摘要
成像卫星是一类用于从太空中获取地面遥感信息的对地观测卫星,随着成像卫星的数量和种类的逐步增多,成像任务的需求量也将快速增加,对成像任务的时效性、准确性要求将更加严格,任务管理的复杂度也将大大增加。成像卫星调度就是在综合考虑卫星资源能力和成像任务要求的基础上,将资源分配给相互竞争的多个任务,并确定各任务的起止时间,以排除不同任务之间的资源使用冲突,充分发挥卫星系统的能力,并最大化满足各类用户的需求。目前,对成像卫星调度问题的研究还主要集中在确定性调度领域。在实际的成像卫星系统运行过程中,存在着很多不确定性因素,如新任务的插入、已安排任务的取消、任务属性的改变、天气的变化、卫星资源状态的变化等。论文在总结和分析国内外相关研究工作的基础上,采用鲁棒性调度方法求解不确定条件下的成像卫星调度问题,将成像卫星鲁棒性调度分为鲁棒性调度方案生成和鲁棒性调度方案动态调整两个阶段。本文的主要研究工作和创新点如下:
(1)提出了成像任务收益的计算方法和基于邻域的鲁棒性指标,建立了成像卫星鲁棒性调度模型。论文在对影响成像任务收益的主要影响因素进行分析的基础上,拓展了任务收益的计算方法,使得成像任务的收益不仅反映了观测目标的重要程度,而且兼顾了成像质量和当前调度周期后任务的剩余可行观测机会。借鉴连续函数的鲁棒性优化思想,提出了基于邻域的鲁棒性指标,分析了问题的主要约束条件,在此基础上,建立了成像卫星鲁棒性调度模型。
(2)针对成像卫星鲁棒性调度模型,提出了基于偏好的分层多目标遗传算法PHMOGA。论文借鉴文化算法的双层空间概念和基于偏好的加权Pareto方法,设计了一种基于偏好的分层多目标遗传算法PHMOGA。针对成像卫星鲁棒性调度的特点,采用合适的编码方式对问题的解进行描述,给出了构造初始种群的贪婪随机插入算法,提出了基于知识进化层的知识进化策略,设计了与编码方式相对应的任务序列交叉算子和多态变异算子,并对算法的收敛性进行了分析。
(3)提出了任务最早开始执行时间和最晚开始执行时间的计算方法,给出了遗传操作的可行性分析和参数更新方法。在成像卫星调度问题中,时间约束和能量约束是两类主要的约束条件,只有满足约束条件的遗传操作才是可行的。论文针对时间约束和能量约束,提出了关键任务序列和后向能量负荷等概念,给出了任务最早开始执行时间和最晚开始执行时间的计算方法。针对转移任务操作和交换任务操作,给出了具体的可行性分析方法和参数更新方法。
(4)针对成像卫星鲁棒性调度方案动态调整问题,建立了成像卫星动态调度模型,提出了动态插入任务启发式算法DITHA。论文针对各种不确定因素造成的扰动,把成像卫星鲁棒性调度方案动态调整问题统一描述为一类插入任务的动态调度问题。针对成像卫星动态调度问题的特点,建立了成像卫星动态调度模型,提出了动态插入任务启发式算法DITHA。计算实例和测试实验结果表明,在对调度方案进行动态调整时,调整的结果一方面与动态调整的方法有关,另一方面也与调度方案的鲁棒性有关。调度方案的鲁棒性越强,动态调整的效果越好。
(5)将上述研究成果应用于成像卫星规划调度系统,介绍了该系统的设计和实现,并利用该系统对一个具体的应用实例进行了求解和分析,求解结果验证了本文提出的成像卫星鲁棒性调度方法的有效性。
Imaging satellite is a kind of Earth Observation Satellite (EOS) acquiring remote sensing information from outer space. The imaging requirments will augment rapidly with the increasement of the imaging satellites, the time efficiency and accuracy of the imaging tasks will be more and more rigorous and the complexity of task management will be enhanced largely. Scheduling of imaging satellites means to allocate multiple satellite resources to multi competitive tasks without conflict and ascertain the execution times of those tasks according to the user's requirements and satellite capabilities, and makes the most use of the limited resources in order to satisfy multifarious observing requirements in future. So far, researches have been primarily focused on imaging satellites scheduling problem without uncertainty. In practice, the satellites are working in a complex environment, faced with different uncertainties such as insertion of new tasks, cancellation of arranged tasks, change of task properties, change of weather condition, unanticipated changes in satellite resources and etc. Based on the summarizing and analyzing of research works inside and outside, this thesis devides the whole problem into two phases including the creation of robust solution phase and the dynamic adjustment of robust solution phase. The main research contents and achievements of this thesis are as follows:
(1) Putting forward the imaging task gain computation method and the neighborhood-based robustness measure, and presenting the imaging satellites robust scheduling model. On the basis of analysis on the main contributing factors, we extend the task gain computation method to take into account the importance of observing target, image quality and remaining feasibility opportunities at the same time. We then propose a neighborhood-based robustness measure for scheduling which is inspired by advances in robust optimization of continuous functions, analyse the main constraints and present the imaging satellites robust scheduling model.
(2) Proposing a preference-based hierachical multi-objective genetic algorithm (PHMOGA) to solve the imaging satellites robust scheduling model. This thesis designs PHMOGA which is inspired by hierachical places of the culture algorithm and preference-based weighted Pareto. According to the character of imaging satellites robust scheduling, we use the appropriate encoding method to depict the solution, give a greedy randomized insert algorithm to construct initial feasible population for evolution, propose a knowledge evolution strategy based on the knowledge evolution space, design the task sequence-based crossover operator and multi-mode mutation operator, and analyze the convergence for PHMOGA.
(3) Presenting the computation methods of earlist start execution time and latest start execution time, and providing the feasibility analysis and parameters update methods of genetic operators. Time constraint and energy constraint are primary constraints in imaging satellites scheduling problem. This thesis provides the notions of critical task sequence and backward energy load and presents the computation methods of earlist start execution time and latest start execution time. The feasibility analysis and parameters update methods are then provided for task transferring operation and task exchanging operation.
(4) Presenting the imaging satellites dynamic scheduling model and its dynamic insert tasks heuristic algorithm (DITHA) with regard to the dynamic adjustment problem of imaging satellites robust solution. This thesis describes the problem with a unified form of dynamic problem with tasks insertion considering the different perturbations, and presents the imaging satellites dynamic scheduling model and its dynamic insert tasks heuristic algorithm. The demonstration calculation and experiments on test instances show that result of the adjustment depends both on adjusting approach and robustness of the solution.
(5) Introducing the design and realization of the imaging satellites planning and scheduling system with the application of the aforementioned achievements. Also an example application is given and solved by the system, the result confirms the validity of imaging satellites robust scheduling approach provided in this paper.
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