混合关键性消息的调度优化是其应用于航空电子系统的关键，而日益增加的动态应用更加依赖于时间触发调度的在线求解。现有时间触发网络调度多基于离线调度设计，面对大规模组网应用其调度表生成耗时较长且生成后难以在线调整。为了更快地求解调度表，并适应在线调整需求，结合数据分发系统中的发布/订阅机制，构建了基于发布/订阅架构的时间触发网络模型；在其基础上提出了基于统一时间分片的时间触发调度在线求解算法，将连续时间离散为时间分片，并基于统一长度约束优化调度求解空间，极大地减少了调度表生成时间；进一步，根据时间分片长度度量链路负载情况，在消息调度过程中实现链路负载均衡的目的，在保障时间触发消息传输延迟需求的条件下降低速率约束消息的端到端延迟。实验结果表明：对于包含300条消息的网络，所提算法的求解速度是可满足性模理论求解的数千倍，同时速率约束消息的最坏端到端延迟比可满足性模理论求解降低了17.4%。对于包含2 000条时间触发消息的网络，所提方法生成调度表的时间为100 ms数量级。

The scheduling solution of hybrid critical messages is the key to its application in avionics systems, and increasingly dynamic applications rely more on the online solution of time-triggered scheduling. At present, time-triggered network scheduling is mostly based on offline scheduling design, which take a long time to be generated and are difficult to be adjusted online after generation in large-scale networking applications. In order to solve the scheduling table faster and make online adjustment, this paper constructs a time-triggered network architecture model based on the publish/subscribe model. Then, an online time-triggered scheduling algorithm is proposed based on unified time slots. Time is discretized into time slots with the unified maximum length, which optimizes the scheduling solution space and reduces the time of scheduling table generation. The link load is measured by the time slot length and is balanced in the process of scheduling to reduce the end-to-end delay of rate-constrained messages. The experimental results show that for the network with 300 messages, the scheduling solution speed of the proposed algorithm is thousands of times that of the SMT algorithm, and the worst-case end-to-end delay of rate-constrained messages is reduced by 17.4% compared with that of the SMT algorithm. For the network with 2 000 time-triggered messages, the time of generating schedule table with the proposed method is on the order of 100 milliseconds.