Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present inventionIn attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment isA part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the artEvery other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
The present invention provides a kind of Resource Alliance's construction method of cotasking based on dummy constellation, as shown in Figure 1, the partyMethod includes:
S100, dummy constellation managing and control system are when receiving a waiting task, according to the need of the waiting taskInformation is sought, multiple satellites are chosen, forms alternate satellite set, a satellite conduct is randomly choosed from the alternate satellite setThe waiting task is sent to the satellite and led by satellite leader；
It will be appreciated that due to when dummy constellation managing and control system receives a waiting task, according to step S100Construct the satellite alliance of the waiting task with S200, therefore be directed to each waiting task, can all construct one it is correspondingSatellite alliance can construct multiple satellite alliances that is, when dummy constellation managing and control system receives multiple waiting tasks, realize and divideCloth control.
Wherein, satellite alliance is referred to as Resource Alliance, waiting task be referred to as cotasking need it is moreThe task of a satellite collaboration processing.
Wherein, the demand information of waiting task, it is load needed for referring to waiting task, resolution ratio, time requirement, excellentThe information such as first grade.
It will be appreciated that the process for choosing multiple satellites may include: from several according to the demand information of waiting taskThe multiple satellites for meeting the demand information are selected in a satellite, and then multiple satellite is constituted into an alternate satellite collectionIt closes.
It is led it will be appreciated that selecting a satellite from alternate satellite set as satellite, satellite leader is candidateThe calculating center of all satellites in satellite set, each satellite calculated in alternate satellite set handle above-mentioned waiting taskAbility etc., and then the multiple satellites for being suitble to complete waiting task are selected, form satellite alliance.
S200, the satellite leader calculate each in the alternate satellite set when receiving the waiting taskA satellite chases interest-degree, Reliability, timeliness and financial value for the waiting task；According to the alternate satelliteChase interest-degree, Reliability, timeliness and the financial value of each satellite determine objective function in set, the objective functionOptimization aim is that the efficiency of the corresponding satellite alliance of the waiting task is maximum, and the bound for objective function is describedThe ability of satellite alliance is greater than the ability need of the waiting task；According to the objective function, described to be processed is determinedBe engaged in corresponding satellite alliance, and utilizes waiting task described in the satellite Federation execution.
It is above-mentioned to chase interest-degree and Reliability is to assess from the angle of logic interest satellite, above-mentioned timeliness andFinancial value is to assess from the angle of economic well-being of workers and staff satellite, is assessed simultaneously satellite in terms of two, and then be may be selectedMore suitable satellite executes task out.
It is above-mentioned to chase interest-degree, it is the person of chasing to the level of interest for completing above-mentioned waiting task, when level of interest is higherWhen, the person of chasing can be more willing to receive waiting task.The so-called person of chasing i.e. satellite.Wherein it is possible to be calculated using the first formulaI-th satellite chases interest-degree in the alternate satellite set, and first formula includes:
In formula, sjciIt is i-th of satellite to the number of the pot life window of the waiting task, n is the timeSelect the number of satellite set Satellite, H1For completeness needed for the waiting task, H0For the complete of the waiting taskCheng Du, v1iInterest-degree is chased for i-th of satellite.
Above-mentioned first formula includes two parts, and first part isSecond part is
First part is i-th of satellite to all in the number and alternate satellite set of the pot life window of waiting taskSatellite embodies load balancing, i.e., waiting task is handed over to the ratio between the sum of the pot life window of waiting taskTo more idle satellite.
Second part embodies the urgency level of waiting task.Completeness needed for waiting task, for example, to be processedThe quantity for the Meta task for including in task；The degree of being completed of waiting task, for example, the member completed in waiting task is appointedThe quantity of business.So-called Meta task is the subtask for being split to obtain and a satellite can be completed by waiting task.
Above-mentioned Reliability, refers to the trust degree of satellite, and specific calculating process may include:
A1, waiting task M is establishedjData set DMj, in data set DMjThe middle demand for recording task to be handled, meshThe information such as mark, also record have the relevant information executed with the satellite of waiting task same task.
A2, by data set MjIn each information be converted into the data of Boolean type；For example, whether certain satellite was executedThis information of task identical with waiting task, which is converted into, represents true, false 1,0.
A3, according to data set MjIn relevant information, calculate i-th of satellite Reliability.It can specifically use as followsThe second formula calculate i-th of satellite Reliability:
In formula, v2iFor the Reliability of i-th of satellite, pjjIt is i-th of satellite in jth time processing and described to be processedEvaluation of estimate obtained after identical task of being engaged in, NSTime of task identical with the waiting task is completed for i-th of satelliteNumber, NOThe number for completing not complete task identical with the waiting task but is promised to undertake for i-th of satellite.
Wherein, NS、NOIt can be from data set MjMiddle acquisition.
Above second formula is divided into two parts, and first part isSecond part is
First part is average ratings value, and satellite can all give an evaluation of estimate after each completion task, therefore above-mentionedFirst part embodies i-th of satellite and completes the average ratings value after task identical with waiting task.
Second part is penalty factor, for promise to undertake complete but because the satellite that various reasons are not completed give it is certainPunishment.Here the confidence level concept of cooperation behavior is introduced, i.e., does not keep promise and reduction effect then is generated to Reliability.
Above-mentioned timeliness is that the person of chasing completes the waiting task time requirement to be considered, as time goes by, appointsBusiness value can decline, it is therefore desirable to complete task within the most fast time to be optimal effect.It specifically can be public using thirdFormula calculates the timeliness of i-th of satellite, and the third formula includes:
In formula, v3iFor the timeliness of i-th of satellite, T is the deadline of the waiting task, and t is i-th of satellitePromise to undertake the time for completing the waiting task.
Satellite can consume certain cost during execution task, for example, the strength of communications cost, investment execution taskCertain reward is also had Deng, certain completion task, therefore financial value can be understood as satellite and complete task prize obtainedThe difference between cost encouraged and paid can specifically calculate the financial value of i-th of satellite using the 4th formula, and the described 4th is publicFormula includes:
In formula, v4iFor the financial value of i-th of satellite,It is required for completing the waiting task for i-th of satelliteThe cost of consumption,The waiting task reward value obtained is completed for i-th of satellite.
The efficiency of a satellite can be determined according to above-mentioned interest-degree, Reliability, timeliness, the financial value of chasing, i-thThe efficiency z of satelliteiCalculation formula can using following formula calculate:
zi=av1i+βv2i+θv3i+δv4i
In formula, a, β, θ, δ are respectively the weighted value for chasing interest-degree, Reliability, timeliness, financial value.
Further, the efficiency of all satellites can be calculated using following formula in the satellite alliance of waiting task:
It will be appreciated that Z (Gro) is the efficiency of the corresponding satellite alliance of the waiting task, v1i is satellite connectionI-th of satellite in alliance chases interest-degree, v2iFor the Reliability of i-th of satellite in the satellite alliance, v3i is describedThe timeliness of i-th of satellite, v4 in satellite allianceiFor the financial value of i-th of satellite in the satellite alliance, m is satellite allianceThe number of Satellite.
The efficiency calculation formula of above-mentioned satellite alliance is objective function, since the optimization aim of objective function is satellite allianceEfficiency it is maximum, i.e. Z (Gro) is maximum.
Each satellite corresponds to a NAThe Efficiency analysis of the Efficiency analysis of dimension, i-th of satellite isN thereinAA element quantitatively embodies satellite s in terms of differentiIt executesThe ability of task.The Efficiency analysis of satellite alliance is the sum of the Efficiency analysis of all satellites in satellite alliance, and is denoted as AbiGro。
Different tasks has different ability needs, waiting task MjAbility need vector can be expressed asThe ability need vector is also NADimensional vector, it is also quantitative to embody waiting task notWith the ability need of aspect.
The necessary condition that satellite alliance is able to carry out waiting task is: the ability of satellite alliance is greater than waiting taskAbility need, therefore bound for objective function may include:
It will be appreciated that AbiGroEfficiency analysis for the Efficiency analysis of the satellite alliance, the satellite alliance is describedThe sum of the Efficiency analysis of all satellites in satellite alliance,For the waiting task MjAbility need vector.
When waiting task is completed, its satellite alliance is dismissed, to the data set D of the waiting taskMjIt is updated, withSatellite Alliance Establishment process for next same task.If it exceeds the deadline of waiting task cannot complete task,The building of the satellite alliance in the period is then exited, and to data set DMjIt is updated.
It will be appreciated that it is necessary to meet following condition for task observation over the ground for satellite: each observation mission must at it someIt is completed in available time windows, while observation will meet mission requirements, reduce unnecessary observation；Satellite observes it twice in successionBetween must have enough adjustment times；Multitask needs to consider comprehensive benefit, and multitask needs are completed before the deadline.
It will be appreciated that different types of task usually requires different numbers, the satellite of different abilities cooperates abilityCompletion task, for this reason, it may be necessary to satellite alliance is generated, it, can the shape according to locating for environment, satellite and task after forming satellite allianceState selects suitable resource allocation algorithm to carry out resource tasks matching.In order to complete task, each satellite in satellite alliance canTo need to exchange information, this compared with centralized cooperation mode, with resource-sharing, mutual supplement with each other's advantages, joint development advantage.?Ideally, the resource output of each satellite platform is all original several times in alliance, and then reduces cost, improves search effectRate.
It will be appreciated that all satellites in satellite alliance, which are enjoyed, to be on common ground for waiting task, and according toThe contribution that single satellite is made by completion task carrys out benefit of division i.e. reward value.For the satellite alliance of formation, if there is defendingStar exits alliance, then the satellite will receive certain punishment.Moreover, the new satellite alliance obtained after thering is satellite to exit allianceBigger interests will not be obtained than satellite alliance when not having satellite to exit before, and then embody the stability of satellite alliance.
The present invention is based on the satellite alliance of dummy constellation building cotasking, dummy constellation, will in a manner of a kind of collaborationDifferent loads characteristic, satellite access coverage area dynamic overlapping, the multidisciplinary control of multicenter earth observation satellite collect inTogether, the advantage for playing more star multisensor dummy constellation observations, realizes combination and cooperation observation, to meet user's earth observation needIt asks.
In the conventional technology, when there is multiple cotaskings to need while handling, dummy constellation by with several satellitesPlatform is repeatedly negotiated, and corresponding satellite composition Resource Alliance is selected to complete earth observation task.In practice, satellite platformToo much, the satellite resource in each satellite platform is also too many, and single satellite can complete multiple tasks, and this adds increased defendThe complexity and difficulties of star resource tissue.Therefore, in traditional centralized cooperation mode dummy constellation managing and control system loadIt can exponentially increase with the increase of number of satellite, whole cooperation efficiency is caused to decline, this concurrency for system, ShandongStick and reliability can have adverse effect on.Simultaneously as the dynamic uncertainty of cotasking and task environment, towardsThe satellite resource alliance of different cotaskings be also it is continually changing, further reduce the decline of whole cooperation efficiency.
However, in the present invention, constructing a satellite alliance for each cotasking, being mentioned for each cotaskingIt can solve multiple collaborations in dynamic environment to meet the needs of different task with targetedly resource collection for oneThe processing problem of task.Resource Alliance's construction method provided by the invention is a kind of distributed collaborative scheme, and being suitable for task needsThe environment of rapid growth is sought, the organization optimization effective to resource is realized, solves a plurality of types of tasks, improve satellite resourceThe completion rate of utilization rate and task.Moreover, dummy constellation managing and control system selects a satellite as defending from alternate satellite setStar leader is used to calculate the ability of each satellite, and multiple satellites is then selected to form satellite alliance, it is seen then that satellite leads conductThe calculating center of alternate satellite set, can greatly reduce the calculation amount of dummy constellation managing and control system, to disperse global virtualThe load of constellation, this mode can greatly improve cooperation efficiency for traditional centralized cooperation mode, improve systemConcurrency, robustness and the reliability of system.
In addition, Resource Alliance's construction method provided by the invention, guarantee resource can completion task under the premise of, multipleIn the satellite candidate collection of miscellaneous task, the most suitable Resource Alliance for completing the task is selected, can satisfy the money of complex taskSource dynamic organization demand.When environment changes, the Resource Alliance for meeting current task demand can be quickly formed, and justThe dynamic adjustment of real-time resource distribution is made in the variation to environment, and then improves resource utilization.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a realityBody or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operationIn any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended toNon-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including thoseElement, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipmentIntrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded thatThere is also other identical elements in process, method, article or equipment including the element.
The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although with reference to the foregoing embodimentsInvention is explained in detail, those skilled in the art should understand that: it still can be to aforementioned each implementationTechnical solution documented by example is modified or equivalent replacement of some of the technical features；And these modification orReplacement, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution.