阅读说明：本技术 一种基于贪婪思想与最短路径法的应急任务规划方法 (Emergency task planning method based on greedy thought and shortest path method ) 是由 刘晓丽 高朝晖 宋世杰 辛维政 张国亭 颜博 赵超 张栋 岳群彬 林晓勇 张超 于 2021-06-16 设计创作，主要内容包括：本发明公开了一种基于贪婪思想与最短路径法的应急任务规划方法,该方法包括：针对应急观测任务,基于贪婪思想优选高优先级观测任务,并优选高观测效益的观测时间窗口；对优选的观测时间窗口按照观测效益从高到低依次进行资源优化决策,基于最短路径法进行观测时间窗口的相应测控时间窗口与数传时间窗口优化决策；基于综合评价值优选应急任务的观测时间窗口,结合确定的测控时间窗口与数传时间窗口,生成应急任务规划方案。本发明采用贪婪思想与最短路径法指导观测、测控与数传资源的优化决策过程,不需要进行反复迭代搜索,简单快捷,大大提升了应急资源规划效率,并提升了应急任务时效性与观测效果。(The invention discloses an emergency task planning method based on a greedy thought and a shortest path method, which comprises the following steps: aiming at the emergency observation task, preferably selecting a high-priority observation task based on a greedy thought, and preferably selecting an observation time window with high observation benefit; carrying out resource optimization decision on the optimal observation time windows in sequence from high to low according to the observation benefits, and carrying out optimization decision on the corresponding measurement and control time windows and the data transmission time windows of the observation time windows based on a shortest path method; and optimizing an observation time window of the emergency task based on the comprehensive evaluation value, and combining the determined measurement and control time window and the data transmission time window to generate an emergency task planning scheme. The method adopts a greedy thought and a shortest path method to guide the optimization decision process of the observation, measurement and control and data transmission resources, does not need repeated iterative search, is simple and quick, greatly improves the emergency resource planning efficiency, and improves the timeliness and the observation effect of emergency tasks.)

1. An emergency mission planning method based on a greedy thought and a shortest path method is characterized by comprising the following steps of:

(1) performing priority evaluation and sequencing on the emergency tasks in the emergency task set T;

(2) selecting emergency tasks T from emergency task set T in sequence from high to low according to priority based on greedy thought_i；

(3) Analysis and calculation emergency task T_iA set S of all satellite observation time windows;

(4) evaluating the task observation benefit of each observation time window in the satellite observation time window set S;

(5) selecting a set number of satellite observation time windows with the best observation benefit from the satellite observation time window set S based on a greedy thought to form an optimal observation time window set S';

(6) selecting a satellite observation time window from the optimal observation time window set S';

(7) judging the selected emergency task T_iWhether the measurement and control time window can be combined with the tasks scheduled on the corresponding satellite in the selected satellite observation time window or not is judged, if yes, the step (9) is carried out, and if not, the step (8) is carried out;

(8) based on satellite instruction uploading and instruction unpacking constraints, the minimum task influence is considered, and the emergency task T is obtained_iOptimizing the available measurement and control time window for decision makingIf the available measurement and control time window exists, switching to the step (9), otherwise, failing to arrange the satellite observation time window, reselecting the satellite observation time window from the optimal observation time window set S', and switching to the step (7); until there is no selectable satellite observation time window in the optimal observation time window set S';

(9) judging whether the selected emergency task can be combined with a task arranged on the satellite to use a data transmission time window, if yes, turning to the step (11), and if not, turning to the step (10);

(10) based on the task timeliness requirement and the satellite data transmission use constraint, considering the task influence minimum, optimizing and deciding a data transmission time window for the emergency task by adopting a shortest path method, if the data transmission time window meeting the timeliness requirement exists, turning to the step (11), otherwise, failing to arrange the satellite observation time window, reselecting the satellite observation time window, and turning to the step (7) until no selectable satellite observation time window exists in the optimal observation time window set S';

(11) based on a measurement and control time window and a data transmission time window of an optimization decision, carrying out emergency task adjustment feasibility analysis by using constraint on satellite load;

(12) judging whether the optimal observation time window set S 'has a satellite observation time window which is not subjected to the measurement and control time window and data transmission time window optimization decision, if so, reselecting the satellite observation time window, and turning to the step (7) until no selectable satellite observation time window exists in the optimal observation time window set S'; if not, the step (13) is carried out;

(13) based on the decided measurement and control time window and the data transmission time window, comprehensively evaluating timeliness, observation quality and task influence degree of all observation time windows in the optimal observation time window set S';

(14) optimized emergency task T based on comprehensive evaluation value_iThe emergency task planning scheme is generated by combining the determined measurement and control time window and the data transmission time window;

(15) and (3) judging whether all emergency tasks in the emergency task set T are processed, if so, finishing emergency task planning, and generating an emergency task planning scheme, otherwise, turning to the step (2).

2. The emergency mission planning method based on the greedy thought and the shortest path method according to claim 1, wherein the measurement and control time window is a measurement and control visible time window of a ground station antenna to a satellite, and the data transmission time window is a data transmission visible time window of the ground station antenna to the satellite.

3. The emergency mission planning method based on the greedy thought and the shortest path method according to claim 1, wherein the shortest path method in step (10) is specifically:

and calculating the total time of the path from the current time to the satellite for observation of the emergency task, data downloading to the ground, data processing to the product distribution total flow, and preferably selecting the path with the shortest time.

4. The emergency task planning method based on the greedy thought and the shortest path method according to claim 1, wherein the step (10) is based on task timeliness requirements and satellite data transmission use constraints, takes into consideration that task influence is minimal, and adopts the shortest path method to optimize a decision data transmission time window for the emergency task, specifically:

(1001) selecting a set number of data transmission time windows with early data transmission starting time from available data transmission time windows to form a candidate data transmission time window set D;

(1002) sequentially taking a data transmission time window D from a candidate data transmission time window set D_i；

(1003) Obtaining d_iThe corresponding ground station predicts the data transmission time according to the ground transmission link condition from the ground station to the data center, and calculates the time length t from the data transmission starting time to the data center when the data is completely transmitted_i；

(1004) And D, after all the data transmission time windows in the candidate data transmission time window set D are calculated, preferably selecting the data transmission time window with the minimum time length, and returning a data transmission resource decision result.

5. The emergency mission planning method based on the greedy thought and the shortest path method according to claim 1, wherein the step (11) is specifically as follows:

(1101) based on the original task planning scheme and the satellite load use constraint, performing emergency task insertion adjustment, canceling conflicting arranged conventional tasks, and accurately determining the observation start time, the observation end time and the observation mode of the emergency tasks;

(1102) estimating the data quantity of the upper-injected instruction packet based on the emergency task and the observation task reserved by the original scheme, and accurately calculating and determining the measurement and control starting time and the measurement and control ending time;

(1103) estimating data transmission data quantity based on an emergency task, an observation task reserved by an original scheme and a data transmission time window, and accurately calculating and determining data transmission starting time and ending time;

(1104) based on the validity of the observation satellite time window determined by the satellite load using constraint test, if the validity is not legal, the satellite observation time window is reselected, and the step (7) is carried out until no selectable satellite observation time window exists in the optimal observation time window set S';

(1105) checking the legality of the selected measurement and control resources based on the satellite load use constraint, and if the selected measurement and control resources are illegal, switching to the step (8) to re-decide a measurement and control time window;

(1106) and (4) checking the validity of the determined data transmission resource based on the satellite load using the constraint, and if the data transmission resource is illegal, carrying out step (10) to re-decide a data transmission time window.

Technical Field

The invention relates to the field of aerospace ground task management and control, in particular to an emergency task planning method based on a greedy thought and a shortest path method, which is suitable for carrying out emergency task observation satellite, measurement and control resource and data transmission resource optimization decision and emergency task adjustment planning under the emergency quick response condition that the requirements on timeliness and observation benefits are high and the measurement and control and data transmission resources can be transparently shared, and can rapidly generate an emergency task planning scheme and an execution plan meeting the requirements through reasoning.

Background

Conventional task planning in an existing remote sensing satellite ground task management and control system generally adopts an intelligent heuristic optimization search algorithm to perform repeated iteration, although global balanced use and task optimization arrangement of resources can be achieved, the process is time-consuming, emergency task insertion adjustment based on the existing scheme cannot be achieved, particularly under the condition that part of tasks are executed by upper-annotated satellites in the scheme, adjustment of the upper-annotated tasks on the satellite is required to be performed manually, on one hand, timeliness is poor, and on the other hand, implementation reliability and execution effect of the emergency tasks are poor.

Disclosure of Invention

The invention aims to solve the technical problem of providing an emergency task planning method based on a greedy thought and a shortest path method, and the method adopts the greedy thought and the shortest path method to guide the optimization decision and the emergency task planning process of various resources of an emergency task, so as to solve the problem of quick response and execution effect of the emergency task planning.

In order to achieve the purpose, the invention adopts the technical scheme that:

the invention discloses an emergency task planning method based on a greedy thought and a shortest path method, which comprises the following specific steps of:

an emergency task planning method based on a greedy thought and a shortest path method comprises the following steps:

(1) performing priority evaluation and sequencing on the emergency tasks in the emergency task set T;

(2) selecting emergency tasks T from emergency task set T in sequence from high to low according to priority based on greedy thought_i；

(3) Analysis and calculation emergency task T_iA set S of all satellite observation time windows;

(4) evaluating the task observation benefit of each observation time window in the satellite observation time window set S;

(5) selecting a set number of satellite observation time windows with the best observation benefit from the satellite observation time window set S based on a greedy thought to form an optimal observation time window set S';

(6) selecting a satellite observation time window from the optimal observation time window set S';

(7) judging the selected emergency task T_iWhether or not in the selected satellite observation time windowThe measurement and control time window can be combined with the scheduled tasks on the corresponding satellite for use, if yes, the step (9) is carried out, and if not, the step (8) is carried out;

(8) based on satellite instruction uploading and instruction unpacking constraints, the minimum task influence is considered, and the emergency task T is obtained_iOptimizing and deciding an available measurement and control time window, if the available measurement and control time window exists, switching to the step (9), otherwise, failing to arrange the satellite observation time window, reselecting the satellite observation time window from the optimal observation time window set S', and switching to the step (7); until there is no selectable satellite observation time window in the optimal observation time window set S';

(9) judging whether the selected emergency task can be combined with a task arranged on the satellite to use a data transmission time window, if yes, turning to the step (11), and if not, turning to the step (10);

(10) based on the task timeliness requirement and the satellite data transmission use constraint, considering the task influence minimum, optimizing and deciding a data transmission time window for the emergency task by adopting a shortest path method, if the data transmission time window meeting the timeliness requirement exists, turning to the step (11), otherwise, failing to arrange the satellite observation time window, reselecting the satellite observation time window, and turning to the step (7) until no selectable satellite observation time window exists in the optimal observation time window set S';

(11) based on a measurement and control time window and a data transmission time window of an optimization decision, carrying out emergency task adjustment feasibility analysis by using constraint on satellite load;

(12) judging whether the optimal observation time window set S 'has a satellite observation time window which is not subjected to the measurement and control time window and data transmission time window optimization decision, if so, reselecting the satellite observation time window, and turning to the step (7) until no selectable satellite observation time window exists in the optimal observation time window set S'; if not, the step (13) is carried out;

(13) based on the decided measurement and control time window and the data transmission time window, comprehensively evaluating timeliness, observation quality and task influence degree of all observation time windows in the optimal observation time window set S';

(14) optimized emergency task T based on comprehensive evaluation value_iThe emergency task planning scheme is generated by combining the determined measurement and control time window and the data transmission time window;

(15) and (3) judging whether all emergency tasks in the emergency task set T are processed, if so, finishing emergency task planning, and generating an emergency task planning scheme, otherwise, turning to the step (2).

The measurement and control time window is a measurement and control visual time window of the ground station antenna to the satellite, and the data transmission time window is a data transmission visual time window of the ground station antenna to the satellite.

The shortest path method in the step (10) is specifically as follows:

and calculating the total time of the path from the current time to the satellite for observation of the emergency task, data downloading to the ground, data processing to the product distribution total flow, and preferably selecting the path with the shortest time.

The method comprises the following steps that in the step (10), based on task timeliness requirements and satellite data transmission use constraints, the task influence is considered to be minimum, a shortest path method is adopted for optimizing and deciding a data transmission time window for an emergency task, and the method specifically comprises the following steps:

(1001) selecting a set number of data transmission time windows with early data transmission starting time from available data transmission time windows to form a candidate data transmission time window set D;

(1002) sequentially taking a data transmission time window D from a candidate data transmission time window set D_i；

(1003) Obtaining d_iThe corresponding ground station predicts the data transmission time according to the ground transmission link condition from the ground station to the data center, and calculates the time length t from the data transmission starting time to the data center when the data is completely transmitted_i；

(1004) And D, after all the data transmission time windows in the candidate data transmission time window set D are calculated, preferably selecting the data transmission time window with the minimum time length, and returning a data transmission resource decision result.

Wherein, the step (11) is specifically as follows:

(1101) based on the original task planning scheme and the satellite load use constraint, performing emergency task insertion adjustment, canceling conflicting arranged conventional tasks, and accurately determining the observation start time, the observation end time and the observation mode of the emergency tasks;

(1102) estimating the data quantity of the upper-injected instruction packet based on the emergency task and the observation task reserved by the original scheme, and accurately calculating and determining the measurement and control starting time and the measurement and control ending time;

(1103) estimating data transmission data quantity based on an emergency task, an observation task reserved by an original scheme and a data transmission time window, and accurately calculating and determining data transmission starting time and ending time;

(1104) based on the validity of the observation satellite time window determined by the satellite load using constraint test, if the validity is not legal, the satellite observation time window is reselected, and the step (7) is carried out until no selectable satellite observation time window exists in the optimal observation time window set S';

(1105) checking the legality of the selected measurement and control resources based on the satellite load use constraint, and if the selected measurement and control resources are illegal, switching to the step (8) to re-decide a measurement and control time window;

(1106) and (4) checking the validity of the determined data transmission resource based on the satellite load using the constraint, and if the data transmission resource is illegal, carrying out step (10) to re-decide a data transmission time window.

Compared with the prior art, the invention has the following beneficial effects:

1. the emergency task planning method based on the greedy thought and the shortest path method provided by the invention has the advantages that the heuristic search of the time window of the emergency task observation satellite is carried out based on the greedy thought, the optimization decision of the time window for measurement and control of the emergency task and the data transmission time window is carried out based on the shortest path method, the emergency task planning process is guided, the problem of the quick response and the execution effect of the emergency task planning is solved, the problem of the quick response of the emergency task of a ground operation and control system can be well solved, the search space is reduced, the decision complexity of the emergency resource of the satellite is reduced, the emergency task planning efficiency is improved, the execution effect of the emergency task is improved, and the task observation benefit and the influence degree.

2. By utilizing the method and the device, the problem of emergency integrated comprehensive scheduling of observation, measurement and control and data transmission resources is solved, the conditions of manual analysis and decision, time-consuming coordination and poor effect in the current emergency adjustment process are changed, the condition that the conventional task planning algorithm cannot meet the high timeliness of the emergency task is solved, the full-flow execution efficiency of the emergency task is improved, and the working pressure of operators on duty is reduced.

Drawings

Fig. 1 is a flowchart of an emergency mission planning method based on a greedy thought and a shortest path method according to the present invention.

FIG. 2 is a flow chart of resource availability time window acquisition in accordance with the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the following detailed description of the method for implementing the complicated steps of the present invention is provided with reference to the accompanying drawings. A flow chart of an emergency mission planning method based on a greedy thought and a shortest path method is shown in fig. 1. The method comprises the following steps:

(1) performing priority evaluation and sequencing on the emergency tasks in the emergency task set T;

before the step (1) is implemented, the available time window of each resource needs to be acquired. As shown in fig. 2, the specific implementation method is as follows: calculating the visible time window of each measurement and control resource to each satellite, then acquiring the idle time window of each measurement and control resource, performing time matching, and acquiring the time window of the idle time window of the measurement and control resource overlapped with the visible time window of the measurement and control resource; and calculating the visual time windows of the data transmission resources and the satellites, then acquiring the idle time windows of the data transmission resources, performing time matching, and acquiring the time windows of the idle time windows of the data transmission resources overlapped with the visual time windows of the data transmission resources.

(2) Selecting emergency tasks T from emergency task set T in sequence from high to low according to priority based on greedy thought_i；

(3) Analysis and calculation emergency task T_iA set S of all satellite observation time windows;

before the step (3) is implemented, the available satellite of the emergency task and the corresponding load working mode need to be matched, and the specific implementation method comprises the following steps: according to the type of the emergency task target, matching satellites capable of meeting the target observation requirements; according to the resolution requirement in the emergency task observation requirement, matching the satellite with the resolution higher than the requirement; matching a satellite containing the load type according to the load type requirement in the emergency task observation requirement; according to the requirement of the emergency task load working mode, matching a satellite containing the load working mode and the load working mode; and if no relevant observation requirements exist in the emergency task, carrying out manual selection in an auxiliary mode, or carrying out autonomous matching selection according to the target characteristics and the current state.

(4) Evaluating the task observation benefit of each observation time window in the satellite observation time window set S;

the implementation method of the step (4) comprises the following steps: the task observation benefit evaluation method is characterized in that weighting summation is carried out on an observation attitude angle, a solar altitude angle, cloud cover, image resolution and the like.

(5) Selecting m satellite observation time windows with the best observation benefits from the satellite observation time window set S based on a greedy thought to form an optimal observation time window set S';

(6) selecting a satellite observation time window from the optimal observation time window set S';

(7) judging the selected emergency task T_iWhether the measurement and control time window can be combined with the tasks scheduled on the corresponding satellite in the selected satellite observation time window or not is judged, if yes, the step (9) is carried out, and if not, the step (8) is carried out; the measurement and control time window is a measurement and control visual time window of the ground station antenna to the satellite;

the implementation method of the step (7) comprises the following steps: sequentially judging whether a measurement and control time window of a task to be arranged on a satellite of an emergency task can be used for the current emergency task, wherein the judgment method comprises the following steps: the end time of the scheduled measurement and control time window on the satellite is before the visual time window of the emergency task, and the interval time is longer than the preparation time for starting the loading action during the instruction unpacking time.

(8) Based on satellite instruction uploading and instruction unpacking constraints, the minimum task influence is considered, and the emergency task T is obtained_iOptimizing decision-making available measurement and control time windowsIf the available measurement and control time window exists, switching to the step (9), otherwise, failing to arrange the satellite observation time window, reselecting the satellite observation time window from the optimal observation time window set S', and switching to the step (7); until there is no selectable satellite observation time window in the optimal observation time window set S'; the data transmission time window is a data transmission visual time window of the ground station antenna to the satellite;

the implementation method of the step (8): and sequentially judging that the end time of the available measurement and control time window of the emergency task is before the visible time window of the emergency task, and the interval time is more than the preparation time for starting the loading action of the instruction unpacking time, judging the influence of the measurement and control time window on the arranged tasks on the satellite when the measurement and control time window is measured and controlled, if the influence is not caused, directly arranging the tasks, if the influence is caused, calculating the influence degree according to the number of the influenced tasks and the priority, and selecting the measurement and control time window with the minimum influence degree.

(9) Judging whether the selected emergency task can be combined with a task arranged on the satellite to use a data transmission time window, if yes, turning to the step (11), and if not, turning to the step (10);

the implementation method of the step (9): sequentially judging whether the data transmission time windows arranged on the satellite are available, wherein the judging method comprises the following steps: the data transmission time window begins after the emergency task ends, the interval time meets the load action interval time constraint, the emergency task is arranged to the data transmission time window, the arranged task is not affected, and the data transmission time window meets the timeliness requirement of the emergency task.

(10) Based on the task timeliness requirement and the satellite data transmission use constraint, considering the task influence minimum, optimizing and deciding a data transmission time window for the emergency task by adopting a shortest path method, if the data transmission time window meeting the timeliness requirement exists, turning to the step (11), otherwise, failing to arrange the satellite observation time window, reselecting the satellite observation time window, and turning to the step (7) until no selectable satellite observation time window exists in the optimal observation time window set S';

based on task timeliness requirements and satellite data transmission use constraints, considering that the task influence is minimum, and adopting a shortest path method to optimize and decide a data transmission time window for an emergency task, specifically:

(1001) selecting a set number of data transmission time windows with early data transmission starting time from available data transmission time windows to form a candidate data transmission time window set D;

(1002) sequentially taking a data transmission time window D from a candidate data transmission time window set D_i；

(1003) Obtaining d_iThe corresponding ground station predicts the data transmission time according to the ground transmission link condition from the ground station to the data center, and calculates the time length t from the data transmission starting time to the data center when the data is completely transmitted_i；

(1004) And D, after all the data transmission time windows in the candidate data transmission time window set D are calculated, preferably selecting the data transmission time window with the minimum time length, and returning a data transmission resource decision result.

The shortest path method specifically comprises the following steps: and calculating the total time of the path from the current time to the satellite for observation of the emergency task, data downloading to the ground, data processing to the product distribution total flow, and preferably selecting the path with the shortest time.

(11) Based on a measurement and control time window and a data transmission time window of an optimization decision, carrying out emergency task adjustment feasibility analysis by using constraint on satellite load; the method specifically comprises the following steps:

(1101) based on the original task planning scheme and the satellite load use constraint, performing emergency task insertion adjustment, canceling conflicting arranged conventional tasks, and accurately determining the observation start time, the observation end time and the observation mode of the emergency tasks;

(1102) estimating the data quantity of the upper-injected instruction packet based on the emergency task and the observation task reserved by the original scheme, and accurately calculating and determining the measurement and control starting time and the measurement and control ending time;

(1103) estimating data transmission data quantity based on an emergency task, an observation task reserved by an original scheme and a data transmission time window, and accurately calculating and determining data transmission starting time and ending time;

(1104) based on the validity of the observation satellite time window determined by the satellite load using constraint test, if the validity is not legal, the satellite observation time window is reselected, and the step (7) is carried out until no selectable satellite observation time window exists in the optimal observation time window set S';

(1105) checking the legality of the selected measurement and control resources based on the satellite load use constraint, and if the selected measurement and control resources are illegal, switching to the step (8) to re-decide a measurement and control time window;

(1106) and (4) checking the validity of the determined data transmission resource based on the satellite load using the constraint, and if the data transmission resource is illegal, carrying out step (10) to re-decide a data transmission time window.

(12) Judging whether the optimal observation time window set S 'has a satellite observation time window which is not subjected to the measurement and control time window and data transmission time window optimization decision, if so, reselecting the satellite observation time window, and turning to the step (7) until no selectable satellite observation time window exists in the optimal observation time window set S'; if not, the step (13) is carried out;

(13) based on the decided measurement and control time window and the data transmission time window, comprehensively evaluating timeliness, observation quality and task influence degree of all observation time windows in the optimal observation time window set S';

(14) optimized emergency task T based on comprehensive evaluation value_iThe emergency task planning scheme is generated by combining the determined measurement and control time window and the data transmission time window;

(15) and (3) judging whether all emergency tasks in the emergency task set T are processed, if so, finishing emergency task planning, and generating an emergency task planning scheme, otherwise, turning to the step (2).

The emergency task planning method based on the greedy thought and the shortest path method is characterized in that a high-priority observation task is optimized based on the greedy thought, and an observation time window with high observation benefit is optimized; carrying out resource optimization decision on the optimal observation time windows in sequence from high to low according to the observation benefits, and carrying out optimization decision on the corresponding measurement and control time windows and the data transmission time windows of the observation time windows based on a shortest path method; and optimizing an observation time window of the emergency task based on the comprehensive evaluation value, and combining the determined measurement and control time window and the data transmission time window to generate an emergency task planning scheme. According to the method, a greedy thought and a shortest path method are adopted to guide the optimization decision process of the resources, so that the emergency resource planning efficiency is greatly improved, and the timeliness and the observation effect of the emergency task are improved.

The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention, and are not intended to limit the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.