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CN113313347A - Satellite task resource matching method and device, storage medium and electronic equipment - Google Patents

Satellite task resource matching method and device, storage medium and electronic equipment Download PDF

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CN113313347A
CN113313347A CN202110423014.4A CN202110423014A CN113313347A CN 113313347 A CN113313347 A CN 113313347A CN 202110423014 A CN202110423014 A CN 202110423014A CN 113313347 A CN113313347 A CN 113313347A
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CN113313347B (en
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胡笑旋
秦雪敏
马华伟
夏维
靳鹏
罗贺
王国强
唐奕城
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Hefei University of Technology
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Abstract

本发明提供了一种卫星任务资源匹配方法、装置、存储介质和电子设备，涉及卫星任务技术领域。本发明在卫星的选择上综合考虑卫星的能量和容量，并设置相应的参数平衡量纲，由于综合评价值较大的卫星更有机会完成难度较大的观测任务，因此排序置后，优先选择综合评价值较小的卫星构造执行规划方案。在任务的选择上综合考虑卫星姿势转换时间以及等待时间，卫星姿势转换时间越少表示卫星消耗的能量越少，等待时间越少则意味着卫星能将更多的时间用于观测，卫星资源利用率更高，所以综合评级值越小的任务越优先安排。通过上述方法可以有效实现当前规划卫星和观测任务的合理选择，快速生成规划方案，极大限度的提高卫星资源调度效率和利用率。

Figure 202110423014

The invention provides a satellite task resource matching method, device, storage medium and electronic equipment, and relates to the technical field of satellite tasks. The present invention comprehensively considers the energy and capacity of the satellites in the selection of satellites, and sets the corresponding parameter balance dimension. Since the satellites with larger comprehensive evaluation values have more chances to complete the difficult observation tasks, the priority is to select the satellites after the sorting. The satellite structure with a smaller comprehensive evaluation value implements the planning scheme. In the selection of tasks, the satellite attitude transition time and waiting time are considered comprehensively. The shorter the satellite attitude transition time, the less energy the satellite consumes, and the less the waiting time, the more time the satellite can spend on observation and the utilization of satellite resources. The rate is higher, so the smaller the comprehensive rating value, the higher the priority. The above method can effectively realize the reasonable selection of currently planned satellites and observation tasks, quickly generate a planning scheme, and greatly improve the efficiency and utilization of satellite resource scheduling.

Figure 202110423014

Description

Satellite task resource matching method and device, storage medium and electronic equipment
Technical Field
The invention relates to the technical field of satellite tasks, in particular to a method and a device for quickly matching satellite task resources, a storage medium and electronic equipment.
Background
In recent years, with the increasing maturity of satellite technology, observation by using satellites has been widely applied to multiple fields such as post-disaster evaluation, hot spot area monitoring and the like, but the requirements of simultaneous observation tasks are increasingly complex and diverse, so how to reasonably arrange satellite resources for observation tasks to perform observation can meet the requirements of the observation tasks, and the maximum utilization of the satellite resources has become a problem which needs to be solved for the wide application of satellite technology.
The existing satellite task resource matching method generally utilizes a dynamic planning idea to generate an initial planning scheme, which is essentially a sequence construction method, and the basic idea is to construct a planning scheme by sequentially inserting observation tasks into a current satellite execution task sequence, wherein the selection of the current planning satellite and the observation tasks is generally random or ordered according to certain attributes of the satellite or the observation tasks, for example, the selection of the satellite is according to the energy of the satellite, and the selection of the observation tasks is according to the posture switching time of the tasks.
However, the existing method is relatively simple in terms of selection considerations of the currently planned satellite and the observation task, so that the finally obtained planning scheme is not ideal, and the utilization rate of satellite resources is low.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides a satellite task resource matching method, a device, a storage medium and electronic equipment, and solves the technical problem of low satellite resource utilization rate of the conventional satellite task resource matching method.
(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 a satellite task resource matching method, including:
s1, acquiring a satellite set and an observation task set;
s2, using formula
Figure BDA0003028497100000021
Selecting a currently planned satellite Sn'S 'denotes the unplanned set of satellites, S' is initially equal to S, S ═ S1,S2,...,Sn,...,SNDenotes a set of satellites that are to be collected,
Figure BDA0003028497100000022
representing a satellite SnThe maximum amount of energy to be stored is,
Figure BDA0003028497100000023
representing a satellite SnThe maximum storage capacity of (c, phi,
Figure BDA0003028497100000024
is a balance dimension parameter;
s3, for the current planning satellite Sn'And matching the task resources, wherein the matching process comprises the following steps:
s301, selecting a task with earliest observation time from an unscheduled task set as the current planning satellite Sn'Said set of unscheduled tasks is initially said set of observation tasks, said first task and said currently planned satellite S are examinedn'Whether a constraint is satisfied, and if so, inserting the task into the currently planned satellite Sn'If not, the next task is changed to be the head task to try to insert, and if all tasks which are not scheduled cannot be inserted, the step jumps toS4；
S302, selecting a task with the shortest sum of satellite posture conversion time and waiting time from the unscheduled task set as a task to be scheduled, and checking the task to be scheduled and the pre-planned satellite Sn'Whether a constraint is satisfied, and if so, inserting the task into the currently planned satellite Sn'If not, the next task is tried to be inserted, and if all tasks which are not scheduled cannot be inserted, the step S4 is skipped;
s4, removing the currently planned satellite S from the set S' of unplanned satellitesn'And updating the unplanned satellite set S', returning to the step S2 until no satellite resource can be planned again, ending the task planning, and generating a planning scheme.
Preferably, the S301 includes:
using formulas
Figure BDA0003028497100000031
Selecting a first task T for a currently planned satellitem'T 'denotes a set of unscheduled tasks, T' is initially equal to T,
Figure BDA0003028497100000032
representing a task TmThe earliest time of starting the observation of the image,
Figure BDA0003028497100000033
selecting a task with earliest observation time from an unscheduled task set; inspection head task Tm'And the currently planned satellite Sn'And if the constraint condition is met, inserting the task into the task execution sequence of the current planning satellite, deleting the task from the unscheduled task set, updating the unscheduled task set, and executing the step S302, otherwise, replacing the next unscheduled task as a first task to try to insert, and if all the unscheduled tasks cannot be inserted, jumping to the step S4.
Preferably, the S302 includes:
using formulas
Figure BDA0003028497100000034
Selecting a task T to be scheduledm'T' represents a set of unscheduled tasks,
Figure BDA0003028497100000035
representing a satellite Sn'From executing task TiTo execute task TmTime of posture adjustment in between; t isiDenotes Sn'Is currently the last task to be performed,
Figure BDA0003028497100000036
respectively represent tasks TiAnd TmThe best angle of observation of the optical system,
Figure BDA0003028497100000037
denotes Sn'Angular deflection rate per unit time;
Figure BDA0003028497100000038
representing a satellite Sn'Observation task TmThe amount of the wait time that is consumed,
Figure BDA0003028497100000041
to represent
Figure BDA0003028497100000042
And the larger value between 0 and the larger value,
Figure BDA0003028497100000043
representing a task TmThe earliest time of starting the observation of the image,
Figure BDA0003028497100000044
representing the currently planned satellite Sn'Try to task TmThe time at which the observation is performed,
Figure BDA0003028497100000045
to represent
Figure BDA0003028497100000046
And
Figure BDA0003028497100000047
greater value of between, TiRepresenting the currently planned satellite Sn'Executing task TmPreviously executed observation tasks, timn'Denotes Sn'From observation task TiTo observation task TmThe adjustment time between the start of the operation,
Figure BDA0003028497100000048
representing a task TiObserving the time required, checking the task T to be scheduledm'With the currently planned satellite Sn'And if the constraint condition is met, inserting the task into the execution task sequence of the current planning satellite, deleting the task from the unscheduled task set, updating the unscheduled task set, and repeatedly executing the step S302, otherwise, switching to the next unscheduled task to try to insert, and if all the unscheduled tasks cannot be inserted, indicating that the resources of the current planning satellite are consumed and the tasks cannot be scheduled, completing the construction of the execution task sequence of the satellite, and jumping to the step S4.
Preferably, the constraint condition includes:
type constraints, angle constraints, time window constraints, check storage constraints, energy constraints, and maximum operating time constraints.
Preferably, said checking of the mission to be scheduled and of the currently planned satellite Sn'Whether the constraint condition is satisfied includes:
a1 using formula
Figure BDA0003028497100000049
To check if type constraints are satisfied, then go to step a 2; otherwise, jumping out of the constraint condition checking process;
Figure BDA00030284971000000410
indicates that T is satisfiedm'A set of satellite resources of an observation sensor type;
a2 using formula
Figure BDA00030284971000000411
Checking whether the angle constraint is met, and if so, executing the step A3; otherwise, jumping out of the constraint condition checking process;
Figure BDA00030284971000000412
respectively represent Sn'The maximum and minimum deflection angles of the sensor,
Figure BDA00030284971000000413
represents Tm'The optimal observation angle of (a);
a3 using formula
Figure BDA0003028497100000051
Checking the time window constraint, if yes, executing step A4; otherwise, jumping out of the constraint condition checking process;
Figure BDA0003028497100000052
denotes Sn'For Tm'The attempt to start the observation of the time,
Figure BDA0003028497100000053
representing a task Tm'The latest time of observation of (c) is,
Figure BDA0003028497100000054
to represent
Figure BDA0003028497100000055
And
Figure BDA0003028497100000056
greater value of between, TiRepresenting the currently planned satellite Sn'The task that is executed last is executed,
Figure BDA0003028497100000057
denotes Sn'For TiThe attempt to start the observation of the time,
Figure BDA0003028497100000058
representing a task TiThe earliest time of observation of the image,
Figure BDA0003028497100000059
representing a task TiThe time required for the observation was measured,
Figure BDA00030284971000000510
denotes Sn'Slave task TiTo task Tm'In time if Tm'Planning a satellite S for the presentnThe first observation task of, then
Figure BDA00030284971000000511
A4 using formula
Figure BDA00030284971000000512
Checking that the storage constraint is satisfied, and if the storage constraint is satisfied, executing step A5; otherwise, jumping out of the constraint condition checking process;
Figure BDA00030284971000000513
representing the currently planned satellite Sn'The storage capacity that has been consumed is,
Figure BDA00030284971000000514
denotes Sn'The storage capacity consumed per unit time is observed,
Figure BDA00030284971000000515
representing a task TmThe time required for the observation was measured,
Figure BDA00030284971000000516
representing a satellite Sn'Observation task Tm'The storage capacity that needs to be expended; if T ism'Planning a satellite S for the presentn'The first observation task of, then
Figure BDA00030284971000000517
A5 using formula
Figure BDA00030284971000000518
Checking whether the energy constraint is met, and if so, executing the step A6; otherwise, jumping out of the constraint condition checking process;
Figure BDA00030284971000000519
representing the currently planned satellite Sn'The energy that has been expended;
Figure BDA00030284971000000520
denotes Sn'The energy consumed by the task has been observed,
Figure BDA00030284971000000521
representing a satellite Sn'The energy consumed per unit time is observed,
Figure BDA00030284971000000522
representing a task TmObserving the required time;
Figure BDA00030284971000000523
denotes Sn'Energy consumed in adjusting the deflection angle, where xijn'Is a 0, 1 variable, when satellite Sn'At observation task TiPost-observation task Tj，xijn'1, otherwise equal to 0;
Figure BDA00030284971000000524
denotes Sn'From observation task TiTo observation task TjThe adjustment time therebetween;
Figure BDA00030284971000000525
representing a satellite Sn'Energy consumed for posture adjustment per unit time; if T ism'Is Sn'The first observation task of, then
Figure BDA0003028497100000061
Figure BDA0003028497100000062
Representing the currently planned satellite Sn'Executing task T from the current last oneiTo task T to be scheduledm'The time for the posture change-over of (2),
Figure BDA0003028497100000063
denotes Sn'Observation task Tm'The energy consumed;
a6, use
Figure BDA0003028497100000064
Checking whether the longest working time constraint is met, and if so, inserting the task into the current planning satellite Sn'In the execution task sequence of (1); otherwise, jumping out of the constraint condition checking process; wherein
Figure BDA0003028497100000065
Planning a satellite S for the presentn'The maximum length of time of operation of the system,
Figure BDA0003028497100000066
representing the currently planned satellite Sn'The length of time that has been in operation,
Figure BDA0003028497100000067
denotes Sn'The time consumed by the task has been observed,
Figure BDA0003028497100000068
representing a task TmObserving the required time;
Figure BDA0003028497100000069
representing the time consumed by the satellite attitude transition, where xijn'Is a 0, 1 variable, when satellite Sn'At observation task TiPost-observation task Tj，xijn'1, otherwise equal to 0;
Figure BDA00030284971000000610
denotes Sn'From observation task TiTo observation task TjTime of posture adjustment in between;
Figure BDA00030284971000000611
representing a satellite Sn'The amount of the wait time that is consumed,
Figure BDA00030284971000000612
to represent
Figure BDA00030284971000000613
And the larger value between 0 and the larger value,
Figure BDA00030284971000000614
representing a task TmThe earliest time of starting the observation of the image,
Figure BDA00030284971000000615
representing the currently planned satellite Sn'Try to task TmThe time at which the observation is performed,
Figure BDA00030284971000000616
to represent
Figure BDA00030284971000000617
And
Figure BDA00030284971000000618
greater value of between, TiRepresenting the currently planned satellite Sn'Executing task TmPreviously executed observation tasks, timn'Denotes Sn'From observation task TiTo observation task TmThe adjustment time between the start of the operation,
Figure BDA00030284971000000619
representing a task TiObserving the required time; if T ism'Is Sn'The first observation task of, then
Figure BDA00030284971000000620
tim'n'Representing the currently planned satellite Sn'Executing task T from the current last oneiTo task T to be scheduledm'If T, posture conversion time ofm'Is Sn'First observation task of, tim'n'＝0；
Figure BDA00030284971000000621
Denotes Sn'Observation task Tm'The time consumed.
Preferably, the method further comprises:
after obtaining the planning scheme in step S4, it is determined whether the task not scheduled in the task not scheduled set T' can be synthesized with the scheduled task in the planning scheme, where the synthesizing and observing steps are as follows:
c1, selecting the satellites S according to the numbersnEach satellite SnAll correspond to an executing task sequence Rn，RnThe satellite scheduling method is formed by arranging according to the sequence of the satellite execution tasks;
c2 from RnMiddle-law satellite SnThe arranged tasks T are sequentially selected out in the execution task sequencea，Ta∈Rn(ii) a If S isnIf all scheduled tasks in (1) are selected, then go to C1 to reselect the satellite;
c3 selecting satellite S from unscheduled task set TnExecutable tasks are sequenced according to the time window sequence to form a task set T to be synthesizedn；
C4 from set TnSequentially selecting tasks T to be synthesizedb，Tb∈Tn；
C5, judgment task TaAnd TbWhether the synthetic observation condition is met or not is judged, if yes, a task T is newly builtc，TcFrom TaAnd TbComposition of TcAll attributes and T except for revenueaThe consistency is kept between the first and the second,
Figure BDA0003028497100000071
task TcAnd RnMiddle TaCarry out substitutionChanging; alternative representative satellite SnOriginally executing task TaNow become to execute task TcOtherwise, go to step C4 to reselect the task T to be synthesizedbIf all the tasks to be synthesized cannot be synthesized, then the branch C2 reselects to schedule the task TaRepeating the above steps until all scheduled tasks are selected;
the synthetic observation conditions include:
scheduled task TaAnd not scheduling task TbTime constraints and angle constraints are satisfied;
by using
Figure BDA0003028497100000072
Checking whether an angle constraint, T, is satisfiedaTo plan a plan Rsolution＝{R1,R2,...Rn,...RNScheduled task in (1), TbFor an unscheduled task in the unscheduled task set T', if TbAt an optimum observation angle of TaSatisfies the angle constraint;
by using
Figure BDA0003028497100000073
Checking whether a time window constraint, T, is satisfiedaTo plan a plan Rsolution＝{R1,R2,...Rn,...RNScheduled task in (1), TbFor unscheduled tasks in T', if TaObservation time window of (T)bThe observation time window of (1) is covered, then the time window constraint is satisfied.
Preferably, the method further comprises:
using formulas
Figure BDA0003028497100000081
The total benefit is calculated and the total benefit is calculated,
Figure BDA0003028497100000082
represents the revenue aggregate of the observation task,
Figure BDA0003028497100000083
indicating completion of task TmThe gain from the observation of (a) is,
Figure BDA0003028497100000084
represents the total cost of the satellite consumption,
Figure BDA0003028497100000085
representing a satellite SnCost of consumption, wherein
Figure BDA0003028497100000086
Figure BDA0003028497100000087
Beta denotes two coefficients for balancing the dimensions,
Figure BDA0003028497100000088
representing a satellite SnThe amount of energy that is consumed,
Figure BDA0003028497100000089
denotes SnThe energy consumed by the task is observed and,
Figure BDA00030284971000000810
denotes SnEnergy consumed when the deflection angle is adjusted;
Figure BDA00030284971000000811
representing the currently planned satellite Sn'The storage capacity that has been consumed is,
Figure BDA00030284971000000812
denotes Sn'The storage capacity consumed per unit time is observed,
Figure BDA00030284971000000813
representing a task TmObserving the required time; rsolution＝{R1,R2,...Rn,...RNDenotes the planning scheme, RnRepresenting satellitesSnBy satellite SnAnd sequentially executing the observation tasks.
In a second aspect, the present invention provides a satellite task resource matching device, including:
the resource acquisition module is used for acquiring a satellite set and an observation task set;
a current planning satellite selection module for utilizing the formula
Figure BDA00030284971000000814
Selecting a currently planned satellite Sn'S 'denotes the unplanned set of satellites, S' is initially equal to S, S ═ S1,S2,...,Sn,...,SNDenotes a set of satellites that are to be collected,
Figure BDA00030284971000000815
representing a satellite SnThe maximum amount of energy to be stored is,
Figure BDA00030284971000000816
representing a satellite SnThe maximum storage capacity of (c, phi,
Figure BDA00030284971000000817
balancing the dimensional parameters;
a resource matching module for the currently planned satellite Sn'And matching the task resources, wherein the matching process comprises the following steps:
a first task planning unit for selecting a task with earliest observation time from the task set which is not arranged as the current planning satellite Sn'The unscheduled task set is initially the observation task set, the inspection first task and the currently planned satellite Sn'If the constraint condition is met, inserting the task into the task sequence of the current planning satellite, deleting the task from the unscheduled task set, updating the unscheduled task set, jumping to the planning unit of the task to be scheduled, otherwise, replacing the next unscheduled task as the first task to try to insert, if all the unscheduled tasks are not scheduled, inserting the task into the planning unit of the task to be scheduled, and if the unscheduled tasks are not scheduled, inserting the task into the planning unit of the task to be scheduledThe affairs can not be inserted, and the updating module is jumped to;
a task planning unit to be scheduled selects a task with the shortest sum of satellite posture conversion time and waiting time from the task non-scheduling set as a task to be scheduled, and plans a satellite S before checking the task to be scheduledn'If the constraint condition is met, inserting the task into an execution task sequence of the current planning satellite, deleting the task from the unscheduled task set, updating the unscheduled task set, and repeatedly executing the planning unit of the task to be scheduled;
an update module for deleting the currently planned satellite S from the set S' of unplanned satellitesn'And updating the unplanned satellite set S', returning to the current planning satellite selection module until no satellite resource can be planned, ending the task planning, and generating a planning scheme.
In a third aspect, the present invention provides a computer-readable storage medium storing a computer program for satellite mission resource matching, wherein the computer program causes a computer to execute the satellite mission resource matching method as described above.
In a fourth aspect, the present invention provides an electronic device comprising:
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 satellite mission resource matching method as described above.
(III) advantageous effects
The invention provides a satellite task resource matching method, a satellite task resource matching device, a storage medium and electronic equipment. Compared with the prior art, the method has the following beneficial effects:
according to the invention, the energy and capacity of the satellite are comprehensively considered in the selection of the satellite, and the corresponding parameter balance dimension is set, so that the satellite with a larger comprehensive evaluation value has a better opportunity to complete a difficult observation task, and after the satellite with a smaller comprehensive evaluation value is sorted, the satellite structure with a smaller comprehensive evaluation value is preferentially selected to execute a planning scheme. The satellite attitude conversion time and the waiting time are comprehensively considered in the task selection, wherein the smaller the satellite attitude conversion time is, the less energy consumed by the satellite is, the smaller the waiting time is, the more time the satellite can use for observation is meant, the satellite resource utilization rate is higher, and therefore the task with the smaller comprehensive rating value is prioritized. By the method, reasonable selection of the current planning satellite and observation tasks can be effectively realized, a planning scheme can be quickly generated, and the scheduling efficiency and the utilization rate of satellite resources are greatly improved.
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 block diagram of a satellite task resource matching method 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 task resource matching method, a device, a storage medium and electronic equipment, solves the problem that the satellite resource utilization rate is low in the existing satellite task resource matching method, and improves the satellite resource utilization rate.
In order to solve the technical problems, the general idea of the embodiment of the application is as follows:
the embodiment of the invention mainly obtains the information of a satellite set S and an observation task set T, and then quickly generates a planning scheme Rsolution＝{R1,R2,...Rn,...RN}，RnRepresenting a satellite SnIs a sequence of tasks performed by the satellite SnAnd the observation tasks are executed in sequence. According to the embodiment of the invention, when the currently planned satellite is selected, the energy and the capacity of the satellite are comprehensively considered, and the corresponding parameter balance dimension is set, and as the satellite with a larger comprehensive evaluation value has a higher opportunity to complete a difficult observation task, the satellite with a smaller comprehensive evaluation value is preferentially selected to construct and execute the task sequence after the sequencing. In the process of constructing an execution task sequence for a satellite, tasks in a task set which is not scheduled are sequenced according to a regulation time minimization principle, then the tasks are sequentially tried to be inserted into the execution task sequence of the current planning satellite, whether constraint conditions are met or not needs to be checked in the process of trying to insert, if the constraint conditions are met, the tasks are inserted into the execution task sequence of the current planning satellite, otherwise, the next task which is not scheduled is tried to be inserted, if all tasks which are not scheduled cannot be inserted, the situation that the resources of the current planning satellite are consumed, the tasks cannot be scheduled, and the construction of the execution task sequence of the satellite is finished. At the moment, selecting the next satellite resource to repeat the steps for planning until no satellite resource can be planned again, and obtaining a planning scheme Rsolution。
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 invention provides a rapid satellite task resource matching method, which is executed by a computer and comprises the following steps of:
s1, acquiring a satellite set and an observation task set;
s2, using formula
Figure BDA0003028497100000121
Selecting a currently planned satellite Sn'S ' denotes an unplanned set of satellites, S ' is initially equal to S (i.e., S ' is S when step S2 is first performed), S ═ S1,S2,...,Sn,...,SNDenotes the set of satellites, SnRepresenting the nth satellite, N representing the total number of satellites,
Figure BDA0003028497100000122
representing a satellite SnThe maximum amount of energy to be stored is,
Figure BDA0003028497100000123
representing a satellite SnThe maximum storage capacity of (c, phi,
Figure BDA0003028497100000124
using the self-defined parameters for balancing the dimension;
s3, for the current planning satellite Sn'And matching the task resources, wherein the matching process comprises the following steps:
s301, selecting a task with earliest observation time from the unscheduled task set as the current planning satellite Sn'First task of (1), inspection first task Tm'And the currently planned satellite Sn'And if the constraint condition is met, inserting the task into the task execution sequence of the current planning satellite, deleting the task from the unscheduled task set, updating the unscheduled task set, and executing the step S302, otherwise, replacing the next unscheduled task as a first task to try to insert, and if all the unscheduled tasks cannot be inserted, jumping to the step S4.
S302, selecting a task with the shortest sum of satellite posture conversion time and waiting time from the unscheduled task set as a task to be scheduled, checking the task to be scheduled and planning the satellite Sn'If the constraint condition is met, inserting the task into the task execution sequence of the current planning satellite, deleting the task from the unscheduled task set, updating the unscheduled task set, and repeatedly executing the step S302, otherwise, switching to the next unscheduled task for tastingThe insertion is tried, and if all the unscheduled tasks cannot be inserted, the process jumps to step S4.
S4, deleting the current planning satellite S from the unplanned satellite set Sn'And updating the unplanned satellite set S', returning to the step S2 until no satellite resource can be planned again, and ending the task planning.
The beneficial effect of this embodiment does:
according to the embodiment of the invention, the energy and the capacity of the satellite are comprehensively considered in the selection of the satellite, and the corresponding parameter balance dimension is set, so that the satellite with a larger comprehensive evaluation value has a higher opportunity to complete a difficult observation task, and after the satellite with a smaller comprehensive evaluation value is sequenced, the satellite with a smaller comprehensive evaluation value is preferentially selected to construct an execution planning scheme. The satellite attitude conversion time and the waiting time are comprehensively considered in the task selection, wherein the smaller the satellite attitude conversion time is, the less energy consumed by the satellite is, the smaller the waiting time is, the more time the satellite can use for observation is meant, the satellite resource utilization rate is higher, and therefore the task with the smaller comprehensive rating value is prioritized. By the method, reasonable selection of the current planning satellite and observation tasks can be effectively realized, a planning scheme can be quickly generated, and the scheduling efficiency and the utilization rate of satellite resources are greatly improved.
The following describes the implementation process of the embodiment of the present invention in detail:
for convenience of description, the meaning of some attributes and parameters of the satellite resources and observation tasks involved in the embodiments of the present invention will be described below.
S＝{S1,S2,...,Sn,...,SNDenotes the set of satellites, SnDenotes the nth satellite, N denotes the total number of satellites, for Sn∈S，
Figure BDA0003028497100000131
Representing a satellite SnThe angle of maximum deflection of the first and second,
Figure BDA0003028497100000132
which represents the minimum angle of deflection of the satellite,
Figure BDA0003028497100000133
representing a satellite SnThe maximum storage capacity of the storage unit (c),
Figure BDA0003028497100000134
representing the storage capacity consumed by the satellite for observing a unit of time,
Figure BDA0003028497100000141
representing a satellite SnThe maximum amount of energy to be stored is,
Figure BDA0003028497100000142
which represents the maximum operating time of the satellite,
Figure BDA0003028497100000143
representing a satellite SnThe energy consumed per unit time is observed,
Figure BDA0003028497100000144
representing a satellite SnThe energy consumed by the posture adjustment per unit time,
Figure BDA0003028497100000145
representing a satellite SnAngular deflection rate per unit time.
T＝{T1,T2,...,Tm,...,TMDenotes the set of observation tasks, TmRepresenting the M-th observation task, M representing the total number of observation tasks,
Figure BDA0003028497100000146
represents TmThe best angle of observation of the optical system,
Figure BDA0003028497100000147
represents TmThe earliest time of starting the observation of the image,
Figure BDA0003028497100000148
represents TmThe latest time of observation of the start of the observation,
Figure BDA0003028497100000149
represents TmThe time required for the observation was measured,
Figure BDA00030284971000001410
respectively representing the maximum and minimum observation angles of the satellite,
Figure BDA00030284971000001411
represents TmThe income brought by the observation is observed,
Figure BDA00030284971000001412
indicates that T is satisfiedmA set of satellite resources of the observation sensor type.
In step S1, the computer acquires a set of satellites and a set of observation tasks.
In step S2, formula is used
Figure BDA00030284971000001413
Selecting a currently planned satellite Sn'S 'denotes the unplanned set of satellites, S' is initially equal to S, S ═ S1,S2,...,Sn,...,SNDenotes the set of satellites, SnRepresenting the nth satellite, N representing the total number of satellites,
Figure BDA00030284971000001414
representing a satellite SnThe maximum amount of energy to be stored is,
Figure BDA00030284971000001415
representing a satellite SnThe maximum storage capacity of (c, phi,
Figure BDA00030284971000001416
are used for balancing the dimension for the custom parameter.
In step S3, the currently planned satellite S is selectedn'And matching the task resources, wherein the matching process comprises the following steps:
s301, selecting a task with earliest observation time from an unscheduled task set as a current planSatellite Sn'First task of (1), inspection first task Tm'And the currently planned satellite Sn'And if the constraint condition is met, inserting the task into the task execution sequence of the current planning satellite, deleting the task from the unscheduled task set, updating the unscheduled task set, and executing the step S302, otherwise, replacing the next unscheduled task as a first task to try to insert, and if all the unscheduled tasks cannot be inserted, jumping to the step S4. The method specifically comprises the following steps:
using formulas
Figure BDA0003028497100000151
Selecting a first task T for a currently planned satellitem'T 'denotes a set of unscheduled tasks, T' is initially equal to T,
Figure BDA0003028497100000152
representing a task TmThe earliest time of starting the observation of the image,
Figure BDA0003028497100000153
it is to select a task with the earliest starting observation time from the unscheduled task set. Inspection head task Tm'And the currently planned satellite Sn'And if the constraint condition is met, inserting the task into the task sequence executed by the current planning satellite, deleting the task from the task set which is not arranged, updating the task set which is not arranged, and executing the step S302, otherwise, switching to the next task which is not arranged to try to insert, if all tasks which are not arranged cannot be inserted, indicating that the resources of the current planning satellite are consumed, the tasks cannot be arranged, completing the construction of the task sequence executed by the satellite, and jumping to the step S4.
S302, selecting a task with the shortest sum of satellite posture conversion time and waiting time from the unscheduled task set as a task to be scheduled, and checking a planning satellite S before the task to be scheduledn'If the constraint condition is met, inserting the task into the execution task sequence of the current planning satellite, deleting the task from the unscheduled task set, and updating the unscheduled taskAnd (4) aggregating the tasks and repeatedly executing the step S302, otherwise, switching to the next unscheduled task to try to insert, and if all unscheduled tasks cannot be inserted, jumping to the step S4. The method specifically comprises the following steps:
using formulas
Figure BDA0003028497100000154
Selecting a task T to be scheduledm'T' represents a set of unscheduled tasks,
Figure BDA0003028497100000155
representing a satellite Sn'From executing task TiTo execute task TmThe satellite needs to adjust the own device angle after completing the observation of the previous task and before executing the observation of the next task, and a certain time is consumed here. T isiDenotes Sn'The task that was last executed is currently executed,
Figure BDA0003028497100000156
respectively represent tasks TiAnd TmThe best angle of observation of the optical system,
Figure BDA0003028497100000157
denotes Sn'Angular deflection rate per unit time.
Figure BDA0003028497100000161
Representing a satellite Sn'Observation task TmThe amount of the wait time that is consumed,
Figure BDA0003028497100000162
to represent
Figure BDA0003028497100000163
And the larger value between 0 and the larger value,
Figure BDA0003028497100000164
representing a task TmThe earliest time of starting the observation of the image,
Figure BDA0003028497100000165
representing the currently planned satellite Sn'Try to task TmThe time at which the observation is performed,
Figure BDA0003028497100000166
to represent
Figure BDA0003028497100000167
And
Figure BDA0003028497100000168
greater value of between, TiRepresenting the currently planned satellite Sn'Executing task TmPreviously executed observation tasks, timn'Denotes Sn'From observation task TiTo observation task TmThe adjustment time between the start of the operation,
Figure BDA0003028497100000169
representing a task TiObserving the time required, checking the task T to be scheduledm'With the currently planned satellite Sn'And if the constraint condition is met, inserting the task into the task sequence of the current planning satellite, deleting the task from the task set which is not arranged, updating the task set which is not arranged, and repeatedly executing the step S302, otherwise, switching to the next task which is not arranged to try to insert, if all tasks which are not arranged cannot be inserted, indicating that the resources of the current planning satellite are consumed, the tasks cannot be arranged, completing the construction of the task sequence of the current planning satellite, and jumping to the step S4.
The constraint conditions in steps S301 and S302 include: type constraints, angle constraints, time window constraints, check storage constraints, energy constraints, maximum operating time constraints. The method for checking whether the first task and the current planning satellite meet the constraint condition and the method for checking whether the task to be scheduled and the current planning satellite meet the constraint condition are consistent, and the following detailed description takes the example of checking whether the task to be scheduled and the current planning satellite meet the constraint condition.
A1, test type aboutBundle, using formula
Figure BDA00030284971000001610
To check if type constraints are satisfied, if so, perform step a2, otherwise, skip the constraint condition checking process,
Figure BDA00030284971000001611
indicates that T is satisfiedm'The system comprises a satellite resource set for observing sensor types, wherein different types of sensors carried by different satellites are different, such as optical sensors, infrared sensors and the like, and different tasks need different sensor types according to own observation requirements.
A2, checking angle constraint and using formula
Figure BDA0003028497100000171
Checking whether the angle constraint is satisfied, if so, executing the step A3, otherwise, jumping out of the constraint condition checking process,
Figure BDA0003028497100000172
respectively represent Sn'The maximum and minimum deflection angles of the sensor,
Figure BDA0003028497100000173
represents Tm'Each task having an optimal observation angle that, if desired to be observed by the satellite, must be satisfied within the minimum and maximum deflection angles of the satellite sensor.
A3, checking time window constraint and using formula
Figure BDA0003028497100000174
Checking whether the time window constraint is satisfied, if so, executing the step A4, otherwise, jumping out of the constraint condition checking process,
Figure BDA0003028497100000175
denotes Sn'For Tm'The attempt to start the observation of the time,
Figure BDA0003028497100000176
representing a task Tm'The latest time of observation of (c) is,
Figure BDA0003028497100000177
to represent
Figure BDA0003028497100000178
And
Figure BDA0003028497100000179
greater value of between, TiRepresenting the currently planned satellite Sn'The task that is executed last is executed,
Figure BDA00030284971000001710
denotes Sn'For TiThe attempt to start the observation of the time,
Figure BDA00030284971000001711
representing a task TiThe earliest time of observation of the image,
Figure BDA00030284971000001712
represents TiThe time required for the observation was measured,
Figure BDA00030284971000001713
denotes Sn'Slave task TiTo task Tm'In time if Tm'Planning a satellite S for the presentnThe first observation task of, then
Figure BDA00030284971000001714
A4, checking storage constraint and using formula
Figure BDA00030284971000001715
Checking that the storage constraint is satisfied, if so, executing the step A5, otherwise, jumping out the constraint condition checking process,
Figure BDA00030284971000001716
representing the currently planned satellite Sn'The storage capacity that has been consumed is,
Figure BDA00030284971000001717
denotes Sn'The storage capacity consumed per unit time is observed,
Figure BDA00030284971000001718
representing a task TmThe time required for the observation was measured,
Figure BDA00030284971000001719
representing a satellite Sn'Observation task Tm'Requiring costly storage capacity. If T ism'Planning a satellite S for the presentn'The first observation task of, then
Figure BDA00030284971000001720
A5, checking energy constraint and using formula
Figure BDA00030284971000001721
And B, checking whether energy constraint is met, if so, executing the step A6, otherwise, jumping out of the constraint condition checking process, wherein the energy consumption of the satellite is mainly two, namely, observation of the task and adjustment of the satellite deflection angle.
Figure BDA0003028497100000181
Representing the currently planned satellite Sn'The energy that has been expended;
Figure BDA0003028497100000182
denotes Sn'The energy consumed by the task has been observed,
Figure BDA0003028497100000183
representing a satellite Sn'The energy consumed per unit time is observed,
Figure BDA0003028497100000184
representing a task TmObserving the required time;
Figure BDA0003028497100000185
denotes Sn'Energy consumed in adjusting the deflection angle, where xijn'Is a 0, 1 variable, when satellite Sn'At observation task TiPost-observation task Tj，xijn'1, otherwise equal to 0;
Figure BDA0003028497100000186
denotes Sn'From observation task TiTo observation task TjThe adjustment time therebetween;
Figure BDA0003028497100000187
representing a satellite Sn'The gesture adjusts the energy consumed per unit time. If T ism'Is Sn'The first observation task of, then
Figure BDA0003028497100000188
Figure BDA0003028497100000189
Representing the currently planned satellite Sn'Executing task T from the current last oneiTo task T to be scheduledm'If T is the energy consumed by the gesture conversionm'Is Sn'The first observation task of, then
Figure BDA00030284971000001810
Figure BDA00030284971000001811
Denotes Sn'Observation task Tm'The energy consumed.
A6, checking the constraint of the longest working time, wherein the time consumed by the satellite mainly comprises three parts, namely observation of a task, satellite posture conversion time and satellite waiting task execution time. By using
Figure BDA00030284971000001812
Checking whether the longest working time constraint is met, and if so, inserting the task into the current planning satellite Sn'In the execution task sequence of (1); otherwise, jumping out of the constraint condition checking process; wherein
Figure BDA00030284971000001813
Planning a satellite S for the presentn'The maximum length of time of operation of the system,
Figure BDA00030284971000001814
representing the currently planned satellite Sn'The length of time that has been in operation,
Figure BDA00030284971000001815
denotes Sn'The time consumed by the task has been observed,
Figure BDA00030284971000001816
representing a task TmObserving the required time;
Figure BDA00030284971000001817
representing the time consumed by the satellite attitude transition, where xijn'Is a 0, 1 variable, when satellite Sn'At observation task TiPost-observation task Tj，xijn'1, otherwise equal to 0;
Figure BDA00030284971000001818
denotes Sn'From observation task TiTo observation task TjTime of posture adjustment in between;
Figure BDA00030284971000001819
representing a satellite Sn'The amount of the wait time that is consumed,
Figure BDA0003028497100000191
to represent
Figure BDA0003028497100000192
And the larger value between 0 and the larger value,
Figure BDA0003028497100000193
representing a task TmThe earliest time of starting the observation of the image,
Figure BDA0003028497100000194
representing the currently planned satellite Sn'Try to task TmThe time at which the observation is performed,
Figure BDA0003028497100000195
to represent
Figure BDA0003028497100000196
And
Figure BDA0003028497100000197
greater value of between, TiRepresenting the currently planned satellite Sn'Executing task TmPreviously executed observation tasks, timn'Denotes Sn'From observation task TiTo observation task TmThe adjustment time between the start of the operation,
Figure BDA0003028497100000198
representing a task TiObserving the required time; if T ism'Is Sn'The first observation task of, then
Figure BDA0003028497100000199
tim'n'Representing the currently planned satellite Sn'Executing task T from the current last oneiTo task T to be scheduledm'If T, posture conversion time ofm'Is Sn'First observation task of, tim'n'＝0；
Figure BDA00030284971000001910
Denotes Sn'Observation task Tm'The time consumed.
In step S4, the currently planned satellite S is deleted from the unplanned set of satellites Sn'Updating the unplanned satellite set S', returning to the step S2 until no satellite resource can go furtherPlanning, ending the task planning, and generating a planning scheme Rsolution＝{R1,R2,...Rn,...RN}，RnRepresenting a satellite SnIs a sequence of tasks performed by the satellite SnAnd sequentially executing the observation tasks.
In the specific implementation process, the embodiment of the invention further comprises a step S5 of obtaining the planning scheme Rsolution＝{R1,R2,...Rn,...RNAfter the scheduling is finished, judging whether the unscheduled tasks in the unscheduled task set T' can be compared with RsolutionThe arranged tasks are subjected to synthetic observation, wherein the synthetic observation refers to that two tasks with similar observation requirements are observed as one synthetic task, so that more tasks can be observed on the basis of not influencing the original planning scheme, and the observation yield and the satellite resource utilization rate are improved. The specific implementation process is as follows:
c1, selecting the satellites S according to the numbersnEach satellite SnAll correspond to an executing task sequence Rn，RnThe satellite communication system is formed by arranging the tasks according to the sequence of the satellite execution.
C2 from RnMiddle-law satellite SnThe arranged tasks T are sequentially selected out in the execution task sequencea，Ta∈Rn(ii) a If S isnAll scheduled tasks in (1) are selected, then the switch C1 reselects the satellite.
C3 selecting satellite S from unscheduled task set TnExecutable tasks are sequenced according to the time window sequence to form a task set T to be synthesizedn。
C4 from set TnSequentially selecting tasks T to be synthesizedb(Tb∈Tn)
C5, judgment task TaAnd TbWhether the synthetic observation condition is met or not is judged, if yes, a task T is newly builtc，TcFrom TaAnd TbComposition of TcAll attributes and T except for revenueaThe consistency is kept between the first and the second,
Figure BDA0003028497100000201
task TcAnd RnMiddle TaAnd (6) replacing. Otherwise, go to step C4 to reselect the task T to be synthesizedbIf all the tasks to be synthesized cannot be synthesized, then the branch C2 reselects to schedule the task TaAnd repeating the steps until all the scheduled tasks are checked whether the scheduled tasks can be subjected to composite observation with the unscheduled tasks.
The synthetic observation conditions include:
scheduled task TaAnd not scheduling task TbTime constraints and angle constraints are satisfied;
by using
Figure BDA0003028497100000202
Checking whether an angle constraint, T, is satisfiedaFor planning scheduled tasks in a project, TbFor unscheduled tasks in T', if TbAt an optimum observation angle of TaBetween the minimum and maximum observation angles, the angle constraint is satisfied.
By using
Figure BDA0003028497100000203
Checking whether a time window constraint, T, is satisfiedaTo plan a plan Rsolution＝{R1,R2,...Rn,...RNScheduled task in (1), TbFor unscheduled tasks in T', if TaObservation time window of (T)bThe observation time window of (1) is covered, then the time window constraint is satisfied.
In the specific implementation process, the embodiment of the present invention further includes step S6 of utilizing a formula
Figure BDA0003028497100000204
The total benefit is calculated and the total benefit is calculated,
Figure BDA0003028497100000205
represents the revenue aggregate of the observation task,
Figure BDA0003028497100000206
indicating completion of task TmThe gain from the observation of (a) is,
Figure BDA0003028497100000207
represents the total cost of the satellite consumption,
Figure BDA0003028497100000208
representing a satellite SnCost of consumption, wherein
Figure BDA0003028497100000209
Figure BDA00030284971000002010
β represents two coefficients for balancing the dimension;
Figure BDA00030284971000002011
representing a satellite SnThe energy consumed;
Figure BDA0003028497100000211
denotes SnThe energy consumed by the task is observed and,
Figure BDA0003028497100000212
denotes SnThe energy consumed in adjusting the deflection angle.
Figure BDA0003028497100000213
Representing the currently planned satellite Sn'The storage capacity that has been consumed is,
Figure BDA0003028497100000214
denotes Sn'The storage capacity consumed per unit time is observed,
Figure BDA0003028497100000215
representing a task TmObserving the required time;
the embodiment of the invention also provides a satellite task resource matching device, which comprises:
the resource acquisition module is used for acquiring a satellite set and an observation task set;
a current planning satellite selection module for utilizing the formula
Figure BDA0003028497100000216
Selecting a currently planned satellite Sn'S 'denotes the unplanned set of satellites, S' is initially equal to S, S ═ S1,S2,...,Sn,...,SNDenotes a set of satellites that are to be collected,
Figure BDA0003028497100000217
representing a satellite SnThe maximum amount of energy to be stored is,
Figure BDA0003028497100000218
representing a satellite SnThe maximum storage capacity of (c, phi,
Figure BDA0003028497100000219
balancing the dimensional parameters;
a resource matching module for the currently planned satellite Sn'And matching the task resources, wherein the matching process comprises the following steps:
a first task planning unit for selecting a task with earliest observation time from the task set which is not arranged as the current planning satellite Sn'First task of (1), inspection first task Tm'And the currently planned satellite Sn'If the constraint condition is met, inserting the task into an execution task sequence of the current planning satellite, deleting the task from the unscheduled task set, updating the unscheduled task set, jumping to a planning unit of the task to be scheduled, otherwise, switching to the next unscheduled task as a first task to try to insert, and jumping to an updating module if all the unscheduled tasks cannot be inserted;
a task planning unit to be scheduled selects a task with the shortest sum of satellite posture conversion time and waiting time from the task non-scheduling set as a task to be scheduled, and plans a satellite S before checking the task to be scheduledn'Whether the constraint condition is satisfied, and if so, inserting the task into the currently planned satelliteIf not, the next task is tried to be inserted, and if all tasks which are not scheduled cannot be inserted, the updating module is skipped;
an update module for deleting the currently planned satellite S from the set S' of unplanned satellitesn'And updating the unplanned satellite set S', returning to the current planning satellite selection module until no satellite resource can be planned again, and ending the task planning.
It can be understood that, the satellite task resource matching device provided in the embodiment of the present invention corresponds to the satellite task resource matching method, and the explanation, examples, and beneficial effects of the relevant contents thereof may refer to the corresponding contents in the satellite task resource matching method, which are not described herein again.
An embodiment of the present invention further provides a computer-readable storage medium storing a computer program for matching satellite task resources, where the computer program enables a computer to execute the satellite task resource matching 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 satellite mission resource matching method as described above.
In summary, compared with the prior art, the invention has the following beneficial effects:
1. according to the embodiment of the invention, the energy and the capacity of the satellite are comprehensively considered in the selection of the satellite, and the corresponding parameter balance dimension is set, so that the satellite with a larger comprehensive evaluation value has a higher opportunity to complete a difficult observation task, and a satellite structure planning scheme with a smaller comprehensive evaluation value is preferentially selected after the satellite with a larger comprehensive evaluation value is sorted. The satellite attitude conversion time and the waiting time are comprehensively considered in the task selection, wherein the smaller the satellite attitude conversion time is, the less energy consumed by the satellite is, the smaller the waiting time is, the more time the satellite can use for observation is meant, the satellite resource utilization rate is higher, and therefore the task with the smaller comprehensive rating value is prioritized. By the method, the resource allocation can be rapidly carried out on the observation task, and the scheduling efficiency and the utilization rate of the satellite resources are greatly improved.
2. Compared with the traditional mode, the embodiment of the invention has the advantages that the considered constraint conditions are more comprehensive, and the obtained planning scheme is more reasonable.
3. The embodiment of the invention considers that two tasks with similar observation requirements are observed as a synthetic task, so that more tasks can be observed on the basis of not influencing the original planning scheme, and the observation yield and the satellite resource utilization rate are improved.
It should be noted that, through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments. In this document, 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 (10)

1.一种卫星任务资源匹配方法，其特征在于，该方法包括：1. a satellite task resource matching method, is characterized in that, the method comprises: S1、获取卫星集合和观测任务集合；S1. Obtain the satellite set and the observation task set; S2、利用公式
Figure FDA0003028497090000011
选出当前规划卫星Sn'，S'表示未规划卫星集合，S'初始等于S，S＝{S1,S2,...,Sn,...,SN}表示卫星集合，
Figure FDA0003028497090000012
表示卫星Sn最大储存能量，
Figure FDA0003028497090000013
表示卫星Sn的最大储存容量，φ，
Figure FDA0003028497090000014
为平衡量纲参数；S2, using the formula
Figure FDA0003028497090000011
Select the current planned satellite Sn ' , S' represents the unplanned satellite set, S' is initially equal to S, S={S 1 , S 2 ,...,S n ,...,S N } represents the satellite set,
Figure FDA0003028497090000012
represents the maximum stored energy of the satellite Sn ,
Figure FDA0003028497090000013
represents the maximum storage capacity of the satellite Sn , φ,
Figure FDA0003028497090000014
is the balance dimension parameter; S3、对所述当前规划卫星Sn'进行任务资源匹配，匹配过程包括：S3, perform task resource matching on the current planning satellite Sn ' , and the matching process includes: S301、从未安排任务集合中选择一个最早开始观测时间最早的任务，作为所述当前规划卫星Sn'的首任务，所述未安排任务集合初始为所述观测任务集合，检验所述首任务和所述当前规划卫星Sn'是否满足约束条件，如果满足，将该任务插入到所述当前规划卫星Sn'的执行任务序列中，并在所述未安排任务集合中删除该任务，更新未安排任务集合，执行步骤S302，否则，换下一个未安排任务作为首任务尝试进行插入，如果所有的未安排任务都无法插入，跳到步骤S4；S301. Select a task with the earliest start of observation time from the unscheduled task set as the first task of the currently planned satellite Sn ' , the unscheduled task set is initially the observation task set, and check the first task and whether the current planning satellite Sn ' satisfies the constraints, if so, insert the task into the execution task sequence of the current planning satellite Sn ' , and delete the task in the unscheduled task set, update If the task set is not arranged, go to step S302, otherwise, replace the next unscheduled task as the first task and try to insert it, if all the unscheduled tasks cannot be inserted, skip to step S4; S302、从未安排任务集合中选择卫星姿势转换时间和等待时间之和最短的任务作为待安排任务，检验所述待安排任务和前规划卫星Sn'是否满足约束条件，如果满足，将该任务插入到所述当前规划卫星Sn'的执行任务序列中，并在未安排任务集合中删除该任务，更新未安排任务集合，重复执行步骤S302，否则，换下一个未安排任务尝试进行插入，如果所有的未安排任务都无法插入，跳到步骤S4；S302, select the task with the shortest sum of the satellite attitude transition time and the waiting time from the unscheduled task set as the task to be arranged, and check whether the task to be arranged and the pre-planned satellite Sn ' satisfy the constraint condition, if so, the task is to be Insert into the execution task sequence of the current planning satellite Sn ' , and delete the task in the set of unscheduled tasks, update the set of unscheduled tasks, repeat step S302, otherwise, replace the next unscheduled task and try to insert, If all unscheduled tasks cannot be inserted, skip to step S4; S4、从所述未规划卫星集合S'中删除所述当前规划卫星Sn'，更新未规划卫星集合S'，返回步骤S2，直到没有卫星资源能够再进行规划，结束任务规划，生成规划方案。S4, delete the currently planned satellite S n' from the unplanned satellite set S', update the unplanned satellite set S', return to step S2, until no satellite resources can be planned, end the mission planning, and generate a planning scheme . 2.如权利要求1所述的卫星任务资源匹配方法，其特征在于，所述S301包括：2. The satellite task resource matching method according to claim 1, wherein the S301 comprises: 利用公式
Figure FDA0003028497090000021
为当前规划卫星选择首任务Tm'，T'表示未安排任务集合，T'初始等于T，
Figure FDA0003028497090000022
表示任务Tm的最早开始观测时间，
Figure FDA0003028497090000023
是从未安排任务集合中选择一个最早开始观测时间最早的任务；检验首任务Tm'和当前规划卫星Sn'是否满足约束条件，如果满足，将该任务插入到当前规划卫星的执行任务序列中，并在未安排任务集合中删除该任务，更新未安排任务集合，执行步骤S302，否则，换下一个未安排任务作为首任务尝试进行插入，如果所有的未安排任务都无法插入，跳到步骤S4。Use the formula
Figure FDA0003028497090000021
Select the first mission T m' for the currently planned satellite, T' represents the set of unscheduled missions, T' is initially equal to T,
Figure FDA0003028497090000022
represents the earliest start observation time of the task T m ,
Figure FDA0003028497090000023
is to select a task with the earliest start observation time from the unscheduled task set; check whether the first task T m' and the current planning satellite Sn ' meet the constraints, if so, insert the task into the execution task sequence of the current planning satellite , delete the task in the unscheduled task set, update the unscheduled task set, and execute step S302, otherwise, replace the next unscheduled task as the first task and try to insert it, if all unscheduled tasks cannot be inserted, skip to Step S4. 3.如权利要求1所述的卫星任务资源匹配方法，其特征在于，所述S302包括：3. The satellite task resource matching method according to claim 1, wherein the S302 comprises: 利用公式
Figure FDA0003028497090000024
选择待安排任务Tm'，T'表示未安排任务集合，
Figure FDA0003028497090000025
表示卫星Sn'从执行任务Ti到执行任务Tm之间的姿势调整时间；Ti表示Sn'的当前最后执行任务，Ti best，
Figure FDA0003028497090000026
分别表示任务Ti和Tm的最佳观测角度，
Figure FDA0003028497090000027
表示Sn'单位时间角度偏转速率；
Figure FDA0003028497090000028
表示卫星Sn'观测任务Tm所消耗的等待时间，
Figure FDA0003028497090000029
表示
Figure FDA00030284970900000210
和0之间的较大值，
Figure FDA00030284970900000211
表示任务Tm的最早开始观测时间，
Figure FDA00030284970900000212
表示当前规划卫星Sn'尝试对任务Tm执行观测的时间，
Figure FDA00030284970900000213
表示
Figure FDA00030284970900000215
和
Figure FDA00030284970900000214
之间的较大值，Ti表示当前规划卫星Sn'执行任务Tm之前执行的观测任务，timn'表示Sn'从观测任务Ti到观测任务Tm之间的调整时间，Ti t表示任务Ti观测所需时间，检验待安排任务Tm'与当前前规划卫星Sn'是否满足约束条件，如果满足，将该任务插入到当前规划卫星的执行任务序列中，并在未安排任务集合中删除该任务，更新未安排任务集合，重复执行步骤S302，否则，换下一个未安排任务尝试进行插入，如果所有的未安排任务都无法插入，说明当前规划卫星的资源已经消耗完，无法在安排任务，该卫星的执行任务序列构建完毕，跳到步骤S4。Use the formula
Figure FDA0003028497090000024
Select to-be-scheduled task T m' , where T' represents a set of unscheduled tasks,
Figure FDA0003028497090000025
Represents the attitude adjustment time of the satellite Sn ' from the execution of the task Ti to the execution of the task Tm ;
Figure FDA0003028497090000026
represent the optimal observation angles for tasks T i and T m , respectively,
Figure FDA0003028497090000027
represents the angular deflection rate per unit time of Sn' ;
Figure FDA0003028497090000028
represents the waiting time consumed by the satellite Sn ' observation task Tm ,
Figure FDA0003028497090000029
express
Figure FDA00030284970900000210
and a larger value between 0,
Figure FDA00030284970900000211
represents the earliest start observation time of the task T m ,
Figure FDA00030284970900000212
represents the time when the currently planned satellite Sn ' tries to perform observations on the mission Tm ,
Figure FDA00030284970900000213
express
Figure FDA00030284970900000215
and
Figure FDA00030284970900000214
T i represents the observation task performed before the currently planned satellite Sn ' performs the task T m , t imn' represents the adjustment time of Sn' from the observation task T i to the observation task T m , T i t represents the time required for the observation of the task T i , check whether the task T m' to be scheduled and the current planning satellite Sn ' meet the constraints, if so, insert the task into the execution task sequence of the current planning satellite, and in the Delete the task from the unscheduled task set, update the unscheduled task set, and repeat step S302, otherwise, try to insert another unscheduled task, if all unscheduled tasks cannot be inserted, it means that the resources of the currently planned satellite have been consumed After finishing, the task cannot be scheduled, the execution task sequence of the satellite is completed, and the process is skipped to step S4. 4.如权利要求1所述的卫星任务资源匹配方法，其特征在于，其特征在于，所述约束条件包括：4. The satellite task resource matching method according to claim 1, wherein the constraints comprise: 类型约束、角度约束、时间窗约束、检验储存约束、能量约束和最长工作时间约束。Type constraints, angle constraints, time window constraints, inspection storage constraints, energy constraints and maximum working time constraints. 5.如权利要求1～4任一所述的卫星任务资源匹配方法，其特征在于，所述检验待安排任务和当前规划卫星Sn'是否满足约束条件，包括：5. The satellite task resource matching method according to any one of claims 1 to 4, wherein the checking whether the to-be-arranged task and the currently planned satellite Sn ' satisfy the constraint condition, comprising: A1、利用公式
Figure FDA0003028497090000031
来检验是否类型约束，若满足，则执行步骤A2；否则，跳出约束条件检验过程；
Figure FDA0003028497090000032
表示满足Tm'观测传感器类型的卫星资源集合；A1. Use the formula
Figure FDA0003028497090000031
to check whether the type constraint is met, and if it is satisfied, execute step A2; otherwise, jump out of the constraint condition checking process;
Figure FDA0003028497090000032
Represents the satellite resource set that satisfies the T m' observation sensor type; A2、利用公式
Figure FDA0003028497090000033
检验是否角度约束，若满足，则执行步骤A3；否则，跳出约束条件检验过程；
Figure FDA0003028497090000034
分别表示Sn'传感器的最大、最小偏转角度，
Figure FDA0003028497090000035
表示Tm'的最佳观测角度；A2. Use the formula
Figure FDA0003028497090000033
Check whether the angle constraint is satisfied, if it is satisfied, then execute step A3; otherwise, jump out of the constraint condition checking process;
Figure FDA0003028497090000034
represent the maximum and minimum deflection angles of the Sn' sensor, respectively,
Figure FDA0003028497090000035
represents the best observation angle of T m' ; A3、利用公式
Figure FDA0003028497090000036
检验时间窗约束，若满足，则执行步骤A4；否则，跳出约束条件检验过程；
Figure FDA0003028497090000037
表示Sn'对Tm'的尝试开始观测时间，
Figure FDA0003028497090000041
表示任务Tm'的最迟观测时间，max(Ti n',Ti star)表示Ti n'和Ti star之间的较大值，Ti表示当前规划卫星Sn'最后执行的任务，Ti n'表示Sn'对Ti的尝试开始观测时间，Ti star表示任务Ti的最早观测时间，Ti t表示任务Ti观测所需时间，
Figure FDA0003028497090000042
表示Sn'从任务Ti到任务Tm'之间的姿势调整时间，如果Tm'为当前规划卫星Sn的第一个观测任务，则
Figure FDA0003028497090000043
A3. Use the formula
Figure FDA0003028497090000036
Check the time window constraint, if it is satisfied, execute step A4; otherwise, jump out of the constraint condition checking process;
Figure FDA0003028497090000037
represents the attempt start observation time of Sn' to Tm ' ,
Figure FDA0003028497090000041
represents the latest observation time of the task T m' , max(T i n' ,T i star ) represents the larger value between T i n' and T i star , and T i represents the last execution of the currently planned satellite Sn ' task, T i n' represents the time when Sn ' tries to start the observation of Ti, T i star represents the earliest observation time of task Ti , T i t represents the time required for the observation of task Ti ,
Figure FDA0003028497090000042
Represents the attitude adjustment time of Sn' from task T i to task T m' , if T m' is the first observation task of the currently planned satellite Sn , then
Figure FDA0003028497090000043
 A4、利用公式
Figure FDA0003028497090000044
检验是够满足储存约束，若满足，则执行步骤A5；否则，跳出约束条件检验过程；
Figure FDA0003028497090000045
表示当前规划卫星Sn'已经消耗的储存容量，
Figure FDA0003028497090000046
表示Sn'观测单位时间消耗的储存容量，
Figure FDA0003028497090000047
表示任务Tm观测所需时间，
Figure FDA0003028497090000048
表示卫星Sn'观测任务Tm'需要耗费的储存容量；如果Tm'为当前规划卫星Sn'的第一个观测任务，则
Figure FDA0003028497090000049
A4. Use formulas
Figure FDA0003028497090000044
The test is enough to satisfy the storage constraint, and if so, execute step A5; otherwise, jump out of the constraint condition test process;
Figure FDA0003028497090000045
represents the storage capacity consumed by the currently planned satellite Sn ' ,
Figure FDA0003028497090000046
represents the storage capacity consumed by Sn' observation unit time,
Figure FDA0003028497090000047
represents the time required for the task T m to observe,
Figure FDA0003028497090000048
Represents the storage capacity required by the satellite Sn ' observation mission T m' ; if T m' is the first observation mission of the currently planned satellite Sn ' , then
Figure FDA0003028497090000049
 A5、利用公式
Figure FDA00030284970900000410
检验是否满足能量约束，若满足，则执行步骤A6；否则，跳出约束条件检验过程；
Figure FDA00030284970900000411
表示当前规划卫星Sn'已经消耗的能量；
Figure FDA00030284970900000412
表示Sn'已观测任务消耗的能量，
Figure FDA00030284970900000413
表示卫星Sn'观测单位时间消耗的能量，
Figure FDA00030284970900000414
表示任务Tm观测所需时间；
Figure FDA00030284970900000415
表示Sn'偏转角进行调整时消耗的能量，其中xijn'为0，1变量，当卫星Sn'在观测任务Ti后观测任务Tj，xijn'＝1，否则的话等于0；
Figure FDA00030284970900000416
表示Sn'从观测任务Ti到观测任务Tj之间的调整时间；
Figure FDA00030284970900000417
表示卫星Sn'单位时间姿势调整消耗的能量；如果Tm'为Sn'的第一个观测任务，则
Figure FDA00030284970900000418
表示当前规划卫星Sn'从当前最后一个执行任务Ti到待安排任务Tm'的姿势转换时间，
Figure FDA0003028497090000051
表示Sn'观测任务Tm'所耗费能量；A5. Use the formula
Figure FDA00030284970900000410
Check whether the energy constraint is met, if so, execute step A6; otherwise, jump out of the constraint condition checking process;
Figure FDA00030284970900000411
Represents the energy consumed by the current planning satellite Sn ' ;
Figure FDA00030284970900000412
represents the energy consumed by Sn' observed tasks,
Figure FDA00030284970900000413
represents the energy consumed by the satellite Sn ' observation unit time,
Figure FDA00030284970900000414
represents the time required for the observation of task T m ;
Figure FDA00030284970900000415
Represents the energy consumed when the deflection angle of Sn' is adjusted, wherein x ijn' is a variable of 0, 1, when the satellite Sn ' observes the task T j after the observation task T i , x ijn' =1, otherwise it is equal to 0;
Figure FDA00030284970900000416
represents the adjustment time of Sn' from the observation task T i to the observation task T j ;
Figure FDA00030284970900000417
Represents the energy consumed by the attitude adjustment of the satellite Sn ' per unit time; if T m' is the first observation task of Sn' , then
Figure FDA00030284970900000418
represents the attitude transition time of the currently planned satellite S n' from the current last execution task T i to the to-be-scheduled task T m' ,
Figure FDA0003028497090000051
represents the energy consumed by Sn' observation task T m' ; A6、利用
Figure FDA0003028497090000052
检验是否满足最长工作时间约束，若满足，将该任务插入到所述当前规划卫星Sn'的执行任务序列中；否则，跳出约束条件检验过程；其中
Figure FDA0003028497090000053
为当前规划卫星Sn'的最长工作时长，
Figure FDA0003028497090000054
表示当前规划卫星Sn'已经工作的时长，
Figure FDA0003028497090000055
表示Sn'已观测任务所消耗的时间，
Figure FDA0003028497090000056
表示任务Tm观测所需时间；
Figure FDA0003028497090000057
表示卫星姿势转换所消耗的时间，其中xijn'为0，1变量，当卫星Sn'在观测任务Ti后观测任务Tj，xijn'＝1，否则的话等于0；
Figure FDA0003028497090000058
表示Sn'从观测任务Ti到观测任务Tj之间的姿势调整时间；
Figure FDA0003028497090000059
表示卫星Sn'所消耗的等待时间，
Figure FDA00030284970900000510
表示
Figure FDA00030284970900000511
和0之间的较大值，
Figure FDA00030284970900000512
表示任务Tm的最早开始观测时间，
Figure FDA00030284970900000513
表示当前规划卫星Sn'尝试对任务Tm执行观测的时间，
Figure FDA00030284970900000514
表示
Figure FDA00030284970900000515
和Ti star之间的较大值，Ti表示当前规划卫星Sn'执行任务Tm之前执行的观测任务，timn'表示Sn'从观测任务Ti到观测任务Tm之间的调整时间，Ti t表示任务Ti观测所需时间；如果Tm'为Sn'的第一个观测任务，则
Figure FDA00030284970900000516
tim'n'表示当前规划卫星Sn'从当前最后一个执行任务Ti到待安排任务Tm'的姿势转换时间，如果Tm'为Sn'的第一个观测任务，tim'n'＝0；
Figure FDA00030284970900000517
表示Sn'观测任务Tm'所消耗时间。A6. Use
Figure FDA0003028497090000052
Check whether the longest working time constraint is met, if so, insert the task into the execution task sequence of the current planning satellite Sn ' ; otherwise, jump out of the constraint condition checking process; wherein
Figure FDA0003028497090000053
is the longest working time of the currently planned satellite Sn ' ,
Figure FDA0003028497090000054
represents the working time of the currently planned satellite Sn ' ,
Figure FDA0003028497090000055
represents the time consumed by Sn' observed tasks,
Figure FDA0003028497090000056
represents the time required for the observation of task T m ;
Figure FDA0003028497090000057
Represents the time consumed by the satellite attitude conversion, wherein x ijn' is a variable of 0, 1, when the satellite Sn ' observes the task T j after the observation task T i , x ijn' =1, otherwise it is equal to 0;
Figure FDA0003028497090000058
represents the posture adjustment time between Sn' from observation task T i to observation task T j ;
Figure FDA0003028497090000059
represents the waiting time consumed by the satellite Sn ' ,
Figure FDA00030284970900000510
express
Figure FDA00030284970900000511
and a larger value between 0,
Figure FDA00030284970900000512
represents the earliest start observation time of the task T m ,
Figure FDA00030284970900000513
represents the time when the currently planned satellite Sn ' tries to perform observations on the mission Tm ,
Figure FDA00030284970900000514
express
Figure FDA00030284970900000515
The larger value between T i star and T i star , T i represents the observation task performed before the currently planned satellite Sn ' performs the task T m , t imn' represents the time between the observation task T i and the observation task T m of Sn' Adjustment time, T i t represents the time required for the observation of task Ti; if T m' is the first observation task of Sn' , then
Figure FDA00030284970900000516
t im'n' represents the attitude transition time of the currently planned satellite Sn ' from the current last execution task T i to the to-be-scheduled task T m' , if T m' is the first observation task of Sn' , t im'n' = 0;
Figure FDA00030284970900000517
It represents the time consumed by Sn' observing task T m' . 6.如权利要求1～4任一所述的卫星任务资源匹配方法，其特征在于，所述方法还包括：6. The satellite task resource matching method according to any one of claims 1 to 4, wherein the method further comprises: 在步骤S4中得到规划方案后，判断未安排任务集合T'中的未安排任务能否与规划方案中已安排任务进行合成观测，合成观测的步骤如下：After the planning scheme is obtained in step S4, it is judged whether the unscheduled tasks in the unscheduled task set T' can be combined and observed with the scheduled tasks in the planning scheme. The steps of the combined observation are as follows: C1、根据编号依次选出卫星Sn，每个卫星Sn都对应一个执行任务序列Rn，Rn根据卫星执行任务先后顺序排列而成；C1. Select the satellites Sn in sequence according to the number, each satellite Sn corresponds to an execution task sequence Rn , and Rn is arranged according to the sequence of execution tasks of the satellites; C2、从Rn中按照卫星Sn执行任务顺序依次选出已安排任务Ta，Ta∈Rn；如果Sn中的已安排任务全部被选出，转C1重新选择卫星；C2. Select the scheduled tasks Ta, Ta ∈ Rn from Rn in sequence according to the task sequence of the satellite Sn ; if all the scheduled tasks in Sn are selected, turn to C1 to select the satellite again; C3、从未安排任务集合T'选出卫星Sn可执行的任务，按照时间窗先后顺序进行排序，构成待合成任务集合Tn；C3. Select the tasks that can be performed by the satellite Sn from the unscheduled task set T', and sort them according to the time window sequence to form the task set T n to be synthesized; C4、从集合Tn依次选出待合成任务Tb，Tb∈Tn；C4. Select tasks T b to be synthesized from the set T n in sequence, and T b ∈ T n ; C5、判断任务Ta和Tb是否满足合成观测条件，若满足，则新建一个任务Tc，Tc由Ta和Tb组成，Tc除了收益外所有的属性与Ta一致，
Figure FDA0003028497090000061
将任务Tc和Rn中Ta进行替换；替换代表卫星Sn原本执行任务Ta，现在变成执行任务Tc，否则，转步骤C4重新选择待合成任务Tb，如果所有的待合成任务都无法合成，转C2重新选择以安排任务Ta，重复上述步骤直到所有的已安排任务全部被选择；C5. Determine whether the tasks Ta and T b meet the synthetic observation conditions. If so, create a new task T c . T c is composed of T a and T b . All attributes of T c except the income are consistent with T a .
Figure FDA0003028497090000061
Replace T a in tasks T c and R n ; the replacement represents that the satellite Sn originally performed the task Ta , and now it becomes the execution task T c , otherwise, go to step C4 to re-select the task T b to be synthesized, if all the tasks to be synthesized If the task cannot be synthesized, go to C2 to select again to arrange the task Ta , and repeat the above steps until all the scheduled tasks are selected; 所述合成观测条件包括：The synthetic observation conditions include: 安排任务Ta和未安排任务Tb满足时间约束和角度约束；Scheduled task T a and unscheduled task T b satisfy time constraints and angle constraints; 利用
Figure FDA0003028497090000062
检验是否满足角度约束，Ta为规划方案Rsolution＝{R1,R2,...Rn,...RN}中的已安排任务，Tb为未安排任务集合T'中的未安排任务，如果Tb的最佳观测角度在Ta的最小和最大观测角度之间，则满足角度约束；use
Figure FDA0003028497090000062
Check whether the angle constraint is satisfied, T a is the scheduled tasks in the planning scheme R solution = {R 1 , R 2 ,...R n ,...R N }, T b is the unscheduled task set T' The task is not scheduled, and the angle constraint is satisfied if the optimal observation angle of T b is between the minimum and maximum observation angle of Ta ; 利用
Figure FDA0003028497090000063
检验是否满足时间窗约束，Ta为规划方案Rsolution＝{R1,R2,...Rn,...RN}中的已安排任务，Tb为T'中的未安排任务，如果Ta的观测时间窗把Tb的观测时间窗覆盖，则满足时间窗约束。use
Figure FDA0003028497090000063
Check whether the time window constraint is satisfied, T a is the scheduled tasks in the planning scheme R solution = {R 1 , R 2 ,...R n ,...R N }, and T b is the unscheduled tasks in T' , if the observation time window of T a covers the observation time window of T b , the time window constraint is satisfied. 7.如权利要求1～4任一所述的卫星任务资源匹配方法，其特征在于，所述方法还包括：7. The satellite task resource matching method according to any one of claims 1 to 4, wherein the method further comprises: 利用公式
Figure FDA0003028497090000071
计算总收益，
Figure FDA0003028497090000072
表示观测任务的收益总合，
Figure FDA0003028497090000073
表示完成任务Tm的观测得到的收益，
Figure FDA0003028497090000074
表示卫星消耗的总成本，
Figure FDA0003028497090000075
表示卫星Sn消耗的成本，其中
Figure FDA0003028497090000076
Figure FDA0003028497090000077
β表示两个系数用于平衡量纲；
Figure FDA0003028497090000078
表示卫星Sn消耗的能量，
Figure FDA0003028497090000079
表示Sn观测任务消耗的能量，
Figure FDA00030284970900000710
表示Sn偏转角进行调整时消耗的能量；
Figure FDA00030284970900000711
表示当前规划卫星Sn'已经消耗的储存容量，
Figure FDA00030284970900000712
表示Sn'观测单位时间消耗的储存容量，
Figure FDA00030284970900000713
表示任务Tm观测所需时间；Rsolution＝{R1,R2,...Rn,...RN}表示规划方案，Rn表示卫星Sn的执行任务序列，由卫星Sn依次执行观测任务的先后顺序排列而成。Use the formula
Figure FDA0003028497090000071
Calculate the total return,
Figure FDA0003028497090000072
represents the total revenue of the observation task,
Figure FDA0003028497090000073
represents the observed benefit of completing the task T m ,
Figure FDA0003028497090000074
represents the total cost of satellite consumption,
Figure FDA0003028497090000075
represents the cost of satellite Sn consumption, where
Figure FDA0003028497090000076
Figure FDA0003028497090000077
β indicates that two coefficients are used to balance the dimension;
Figure FDA0003028497090000078
represents the energy consumed by the satellite Sn ,
Figure FDA0003028497090000079
represents the energy consumed by the Sn observation task,
Figure FDA00030284970900000710
Represents the energy consumed when the Sn deflection angle is adjusted;
Figure FDA00030284970900000711
represents the storage capacity consumed by the currently planned satellite Sn ' ,
Figure FDA00030284970900000712
represents the storage capacity consumed by Sn' observation unit time,
Figure FDA00030284970900000713
represents the time required for the observation of the task T m ; R solution = {R 1 , R 2 ,...R n ,...R N } represents the planning scheme, R n represents the execution task sequence of the satellite Sn , and the satellite Sn The order of execution of the observation tasks is arranged in sequence. 8.一种卫星任务资源匹配装置，其特征在于，包括：8. A satellite task resource matching device, characterized in that, comprising: 资源获取模块，用于获取卫星集合和观测任务集合；The resource acquisition module is used to acquire satellite collections and observation task collections; 当前规划卫星选择模块，用于利用公式
Figure FDA00030284970900000714
选出当前规划卫星Sn'，S'表示未规划卫星集合，S'初始等于S，S＝{S1,S2,...,Sn,...,SN}表示卫星集合，
Figure FDA00030284970900000715
表示卫星Sn最大储存能量，
Figure FDA00030284970900000716
表示卫星Sn的最大储存容量，φ，
Figure FDA00030284970900000717
平衡量纲参数；Current planning satellite selection module for utilizing the formula
Figure FDA00030284970900000714
Select the current planned satellite Sn ' , S' represents the unplanned satellite set, S' is initially equal to S, S={S 1 , S 2 ,...,S n ,...,S N } represents the satellite set,
Figure FDA00030284970900000715
represents the maximum stored energy of the satellite Sn ,
Figure FDA00030284970900000716
represents the maximum storage capacity of the satellite Sn , φ,
Figure FDA00030284970900000717
Balance dimension parameter; 资源匹配模块，对所述当前规划卫星Sn'进行任务资源匹配，匹配过程包括：The resource matching module performs task resource matching on the currently planned satellite Sn ' , and the matching process includes: 首任务规划单元，从未安排任务集合中选择一个最早开始观测时间最早的任务，作为所述当前规划卫星Sn'的首任务，所述未安排任务集合初始为所述观测任务集合，检验首任务和所述当前规划卫星Sn'是否满足约束条件，如果满足，将该任务插入到当前规划卫星的执行任务序列中，并在未安排任务集合中删除该任务，更新未安排任务集合，跳到待安排任务规划单元，否则，换下一个未安排任务作为首任务尝试进行插入，如果所有的未安排任务都无法插入，跳到更新模块；The first task planning unit selects a task with the earliest start observation time from the unscheduled task set as the first task of the currently planned satellite Sn ' , and the unscheduled task set is initially the observation task set, and the first task is checked. Whether the task and the current planning satellite Sn ' meet the constraints, if so, insert the task into the execution task sequence of the current planning satellite, delete the task in the unscheduled task set, update the unscheduled task set, skip Go to the task planning unit to be scheduled, otherwise, try to insert the next unscheduled task as the first task. If all unscheduled tasks cannot be inserted, skip to the update module; 待安排任务规划单元，从未安排任务集合中选择卫星姿势转换时间和等待时间之和最短的任务作为待安排任务，检验待安排任务前规划卫星Sn'是否满足约束条件，如果满足，将该任务插入到当前规划卫星的执行任务序列中，并在未安排任务集合中删除该任务，更新未安排任务集合，重复执行待安排任务规划单元的步骤，否则，换下一个未安排任务尝试进行插入，如果所有的未安排任务都无法插入，跳到更新模块；The to-be-scheduled task planning unit selects the task with the shortest sum of the satellite attitude transition time and the waiting time from the unscheduled task set as the to-be-scheduled task, and checks whether the planned satellite Sn ' before the to-be-scheduled task satisfies the constraint condition, and if so, sets the Insert the task into the execution task sequence of the currently planned satellite, delete the task from the unscheduled task set, update the unscheduled task set, and repeat the steps of the planning unit of the task to be scheduled, otherwise, try to insert the next unscheduled task. , if all unscheduled tasks cannot be inserted, skip to the update module; 更新模块，用于从未规划卫星集合S'中删除当前规划卫星Sn'，更新未规划卫星集合S'，返回当前规划卫星选择模块，直到没有卫星资源能够再进行规划，结束任务规划，生成规划方案。The update module is used to delete the current planned satellite S n' from the unplanned satellite set S', update the unplanned satellite set S', return to the current planned satellite selection module, until no satellite resources can be planned, end the mission planning, generate Proposal. 9.一种计算机可读存储介质，其特征在于，其存储用于卫星任务资源匹配的计算机程序，其中，所述计算机程序使得计算机执行如权利要求1～7任一项所述的卫星任务资源匹配方法。9. A computer-readable storage medium, characterized in that it stores a computer program for satellite task resource matching, wherein the computer program enables a computer to execute the satellite task resource according to any one of claims 1 to 7 matching method. 10.一种电子设备，其特征在于，包括：10. An electronic device, comprising: 一个或多个处理器；one or more processors; 存储器；以及memory; and 一个或多个程序，其中所述一个或多个程序被存储在所述存储器中，并且被配置成由所述一个或多个处理器执行，所述程序包括用于执行如权利要求1～7任一项所述的卫星任务资源匹配方法。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 means for performing the functions of claims 1-7 Any one of the satellite task resource matching methods.
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