地表电磁环境探测卫星的资源规划调度方法
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摘要
地表电磁环境探测卫星(后简称:电磁探测卫星)是一类对地观测卫星,其搜集的信息对工业、科研、军事等领域有着重要的意义。对地观测卫星规划调度问题是一个复杂的组合优化问题,目前的研究主要集中在成像卫星规划领域,而由于电磁探测卫星对地观测过程中所特有的工作模式约束、相关覆盖性要求以及诸多不确定性因素,其资源规划的研究相对较少。
论文针对普通电磁探测卫星、自治电磁探测卫星和自治电磁探测卫星群等三类不同自治水平的卫星以及相关数传资源,提出了对其进行统一处理的规划调度框架。基于该框架,从确定性调度、动态重调度和星上自主规划等层面进行了研究,给出了电磁探测卫星资源规划调度问题的完整解决方案,以达到最大化满足用户需求,充分而合理的利用宝贵的电磁探测卫星资源的目的。主要工作和创新点包括:
1.提出了电磁探测卫星的资源规划调度框架,描述和定义了电磁探测卫星资源规划调度的立论基础和处理对象,确定了规划调度的业务体系、处理流程以及规划问题中的关键技术,将电磁探测卫星的资源规划调度问题分解为确定性条件下电磁探测卫星资源调度问题、任务和资源变化条件下电磁探测卫星资源动态重调度问题以及电磁探测卫星(群)星上自主规划问题等三个尚需解决的子问题。为关键技术的研究和应用系统的设计实现提供总体框架支持和顶层指导。
2.通过分析电磁探测卫星信号采集活动过程和数传活动过程特点及相关约束,分别建立了基于整体优化策略的卫星资源调度CSP(Constraint Satisfaction Problem)模型和基于递进式优化策略的卫星资源数学规划模型(包括:卫星信号采集任务规划CSP模型和卫星数传活动冲突时段约束图模型),提出了基于整体优化策略的SSADD算法与基于递进式优化策略的EDSRPS算法,可有效解决确定性条件下电磁探测卫星资源调度问题。
3.针对电磁探测卫星运行过程中任务和资源动态变化的情况,建立了基于条件约束满足问题(Conditional Constraint Satisfaction Problem - CCSP)的电磁探测卫星动态重调度数学模型,提出基于记忆效应SWO(Squeaky-Wheel Optimization)算子的动态重调度方法,克服了现有卫星资源动态重调度方法难以保证全局优化性以及重调度结果稳定性较差的弱点。
4.针对自治电磁探测卫星自主任务规划及载荷特点,建立了基于动态拓扑结构无环路有向图的星上自主规划数学模型,提出了基于标记更新最短路径的星上自主规划精确算法(EDSAS算法),对其完备性和计算复杂性进行了分析。针对EDSAS时间复杂度较高的缺点,将近似支配概念引入到上述算法中,提出了标记更新最短路径搜索近似算法(EDSAAS算法),并分析了EDSAAS算法的近似程度和时间复杂度,从理论上说明了EDSAAS算法能在多项式时间内得到近似程度较好的规划结果。
5.针对具有星间通信链路的自治电磁探测卫星群,结合电磁探测卫星群载荷特点及自治规划过程,建立了基于MAS(Multi-Agent System)的任务规划数学模型,提出了基于外包合同网协议的电磁探测卫星群任务规划算法(SSAOC算法),克服了传统合同网协议星群任务规划方法中调度结果对任务招投标顺序依赖较大的弱点,有效解决自治电磁探测卫星群自主规划问题。
基于以上研究成果,设计并实现了电磁探测卫星资源规划调度实验系统,以验证论文提出的各项关键技术。
Electromagnetic Detection Satellite (EDS) is a type of Earth Observation Satellites (EOSs). The Information collected by EDSs is very important for the industry, science and military applications. The scheduling of EDSs is a complex combinatorial optimization problem. Current research mainly focuses on the scheduling of imaging satellites; however there exist little work on the scheduling of EDSs for its specific requirements and some uncertain factors.
To satisfy the united scheduling requirements of data transmitting resources and three types of EDSs with different autonomous capabilities, including common EDSs, autonomous EDSs and autonomous EDSs Constellation, this dissertation designed an integrated scheduling framework. Based on the scheduling framework, the planning and scheduling approaches in certain conditions, dynamic rescheduling approaches and onboard autonomous scheduling approaches were studied. Then an integrated solution was proposed in order to fully utilize EDSs and data transmitting resources, moreover to satisfy user’s requirements. The main work and contributions of this dissertation can be concluded as the following five parts:
1. An integrated framework was established for EDS resources scheduling. Meanwhile, the operation architecture, application process and key technology of EDS resources scheduling were presented and defined. According to the framework, our problem can be divided into three sub-problems that are need to be solved: EDSs scheduling problem in certain conditions, EDSs dynamic rescheduling for the situation of tasks and resources changing and autonomous EDS and constellation onboard scheduling problem. The study on scheduling framework provided high-level guidance for research on key technologies and designing of application systems.
2. Considering the characteristics and constraints in the signal collecting process and data transmission process of EDSs, the scheduling model under global optimization strategy and progressive optimization strategy were established respectively. Then the corresponding scheduling algorithms were designed. The performance of the algorithms was verified by theoretical analysis and experiments. Results show that it can solve the EDSs scheduling problem in certain conditions effectively.
3. Facing two types of uncertainties and perturbations including new tasks arriving randomly and unanticipated changes in satellite resources, a CCSP (Conditional Constraint Satisfaction Problem) multi-satellites rescheduling model was established and a rescheduling algorithm based on memorized Squeaky-Wheel Optimization (SWO) was proposed. The experiment shows that our proposed algorithm can conquer the weaknesses of current rescheduling methods which are non-global optimization and instable rescheduling result.
4. By analyzing the specific requirements and constraints of autonomous EDS, an ordered flexible topology directed acyclic graph scheduling model was established and a scheduling algorithm based on graph label updating was designed. Then the completeness and computing complexity of our algorithm were analyzed. Because of the high time complexity of our algorithm, the conception of approximate dominate paths was introduced to our model. On this basis, an improved approximation algorithm was proposed. Then, the time complexity and performance ratios of the approximation algorithm were analyzed. By theoretical analysis and experiments, we can conclude that the approximation algorithm can get satisfactory solution in polynomial time.
5. Considering the specific requirements and constraints of Autonomous EDS Constellation with inter-satellite communication link, a Multi-Agent System (MAS) scheduling model was established and a scheduling algorithm based on contract net with outsourcing strategy was proposed. The weak point that the scheduling results depend heavily on task invited bidding order in traditional contract net can be conquered.
According to the research works presented above, an EDSs planning and scheduling experiment system was designed and implemented as the platform to verify our research achievements.
论文针对普通电磁探测卫星、自治电磁探测卫星和自治电磁探测卫星群等三类不同自治水平的卫星以及相关数传资源,提出了对其进行统一处理的规划调度框架。基于该框架,从确定性调度、动态重调度和星上自主规划等层面进行了研究,给出了电磁探测卫星资源规划调度问题的完整解决方案,以达到最大化满足用户需求,充分而合理的利用宝贵的电磁探测卫星资源的目的。主要工作和创新点包括:
1.提出了电磁探测卫星的资源规划调度框架,描述和定义了电磁探测卫星资源规划调度的立论基础和处理对象,确定了规划调度的业务体系、处理流程以及规划问题中的关键技术,将电磁探测卫星的资源规划调度问题分解为确定性条件下电磁探测卫星资源调度问题、任务和资源变化条件下电磁探测卫星资源动态重调度问题以及电磁探测卫星(群)星上自主规划问题等三个尚需解决的子问题。为关键技术的研究和应用系统的设计实现提供总体框架支持和顶层指导。
2.通过分析电磁探测卫星信号采集活动过程和数传活动过程特点及相关约束,分别建立了基于整体优化策略的卫星资源调度CSP(Constraint Satisfaction Problem)模型和基于递进式优化策略的卫星资源数学规划模型(包括:卫星信号采集任务规划CSP模型和卫星数传活动冲突时段约束图模型),提出了基于整体优化策略的SSADD算法与基于递进式优化策略的EDSRPS算法,可有效解决确定性条件下电磁探测卫星资源调度问题。
3.针对电磁探测卫星运行过程中任务和资源动态变化的情况,建立了基于条件约束满足问题(Conditional Constraint Satisfaction Problem - CCSP)的电磁探测卫星动态重调度数学模型,提出基于记忆效应SWO(Squeaky-Wheel Optimization)算子的动态重调度方法,克服了现有卫星资源动态重调度方法难以保证全局优化性以及重调度结果稳定性较差的弱点。
4.针对自治电磁探测卫星自主任务规划及载荷特点,建立了基于动态拓扑结构无环路有向图的星上自主规划数学模型,提出了基于标记更新最短路径的星上自主规划精确算法(EDSAS算法),对其完备性和计算复杂性进行了分析。针对EDSAS时间复杂度较高的缺点,将近似支配概念引入到上述算法中,提出了标记更新最短路径搜索近似算法(EDSAAS算法),并分析了EDSAAS算法的近似程度和时间复杂度,从理论上说明了EDSAAS算法能在多项式时间内得到近似程度较好的规划结果。
5.针对具有星间通信链路的自治电磁探测卫星群,结合电磁探测卫星群载荷特点及自治规划过程,建立了基于MAS(Multi-Agent System)的任务规划数学模型,提出了基于外包合同网协议的电磁探测卫星群任务规划算法(SSAOC算法),克服了传统合同网协议星群任务规划方法中调度结果对任务招投标顺序依赖较大的弱点,有效解决自治电磁探测卫星群自主规划问题。
基于以上研究成果,设计并实现了电磁探测卫星资源规划调度实验系统,以验证论文提出的各项关键技术。
Electromagnetic Detection Satellite (EDS) is a type of Earth Observation Satellites (EOSs). The Information collected by EDSs is very important for the industry, science and military applications. The scheduling of EDSs is a complex combinatorial optimization problem. Current research mainly focuses on the scheduling of imaging satellites; however there exist little work on the scheduling of EDSs for its specific requirements and some uncertain factors.
To satisfy the united scheduling requirements of data transmitting resources and three types of EDSs with different autonomous capabilities, including common EDSs, autonomous EDSs and autonomous EDSs Constellation, this dissertation designed an integrated scheduling framework. Based on the scheduling framework, the planning and scheduling approaches in certain conditions, dynamic rescheduling approaches and onboard autonomous scheduling approaches were studied. Then an integrated solution was proposed in order to fully utilize EDSs and data transmitting resources, moreover to satisfy user’s requirements. The main work and contributions of this dissertation can be concluded as the following five parts:
1. An integrated framework was established for EDS resources scheduling. Meanwhile, the operation architecture, application process and key technology of EDS resources scheduling were presented and defined. According to the framework, our problem can be divided into three sub-problems that are need to be solved: EDSs scheduling problem in certain conditions, EDSs dynamic rescheduling for the situation of tasks and resources changing and autonomous EDS and constellation onboard scheduling problem. The study on scheduling framework provided high-level guidance for research on key technologies and designing of application systems.
2. Considering the characteristics and constraints in the signal collecting process and data transmission process of EDSs, the scheduling model under global optimization strategy and progressive optimization strategy were established respectively. Then the corresponding scheduling algorithms were designed. The performance of the algorithms was verified by theoretical analysis and experiments. Results show that it can solve the EDSs scheduling problem in certain conditions effectively.
3. Facing two types of uncertainties and perturbations including new tasks arriving randomly and unanticipated changes in satellite resources, a CCSP (Conditional Constraint Satisfaction Problem) multi-satellites rescheduling model was established and a rescheduling algorithm based on memorized Squeaky-Wheel Optimization (SWO) was proposed. The experiment shows that our proposed algorithm can conquer the weaknesses of current rescheduling methods which are non-global optimization and instable rescheduling result.
4. By analyzing the specific requirements and constraints of autonomous EDS, an ordered flexible topology directed acyclic graph scheduling model was established and a scheduling algorithm based on graph label updating was designed. Then the completeness and computing complexity of our algorithm were analyzed. Because of the high time complexity of our algorithm, the conception of approximate dominate paths was introduced to our model. On this basis, an improved approximation algorithm was proposed. Then, the time complexity and performance ratios of the approximation algorithm were analyzed. By theoretical analysis and experiments, we can conclude that the approximation algorithm can get satisfactory solution in polynomial time.
5. Considering the specific requirements and constraints of Autonomous EDS Constellation with inter-satellite communication link, a Multi-Agent System (MAS) scheduling model was established and a scheduling algorithm based on contract net with outsourcing strategy was proposed. The weak point that the scheduling results depend heavily on task invited bidding order in traditional contract net can be conquered.
According to the research works presented above, an EDSs planning and scheduling experiment system was designed and implemented as the platform to verify our research achievements.
引文
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