基于滚动时域策略的中继卫星多目标动态调度优化方法

doi:10.7527/S1000-6893.2023.29706

Abstract

Abstract:

To improve the ability of responding to emergencies in the scheduling of relay satellite system， a dynamic scheduling model is proposed based on the rolling horizon strategy in this paper， which decomposes the complex dynamic scheduling process into several static scheduling subproblems. A multi-objective optimization algorithm is designed to solve the subproblems according to the demand for dynamic scheduling of the relay satellite. Firstly， a dynamic scheduling model for the relay satellite is constructed to obtain the maximum task completion rate and the minimum adjustment range of scheduling scheme. Then， based on dynamic scheduling characteristics， a dynamic task scheduling method is proposed. The method adopts a hybrid rescheduling mechanism based on cycle and event-driven， divides the scheduling process into scheduling intervals， and uses a multi-objective evolutionary algorithm based on adaptive neighborhood search to schedule the window tasks in each interval. To verify the effectiveness of the proposed dynamic scheduling model and algorithm， a large number of simulation experiments are carried out. The experimental results prove the superiority of the proposed method in solving the dynamic scheduling problem of relay satellite. Compared with the cutting-edge multi-objective optimization methods of NSGA-Ⅱ， MDSA-NSGA-Ⅱ， and MODJA， the algorithm designed in this paper can generate higher quality solutions.

Key words: relay satellite, dynamic scheduling, rolling horizon strategy, multi-objective optimization, adaptive neighborhood structure

CLC Number:

Hengwei LI, Qizhang LUO, Yi GU, Caizhi FAN, Guohua WU. Multi⁃objective dynamic scheduling optimization method for relay satellites based on rolling horizon strategy[J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(16): 329706.

Figures/Tables 14

Fig.1

Fig.2

Table 1

Symbol description

变量	含义
$R$	天线集合， $R = 1,2, …, r$
$T$	用户申请的任务集合， $T = 1,2, …, t$
$U$	用户航天器集合， $U = 1,2, …, u$
$V t, r$	任务 $t$ 对应天线 $r$ 的可见时间窗口
$v s t, r j, v e t, r j$	任务 $t$ 与天线 $r$ 的第 $j$ 个可见时间窗口， $v s t, r j$ 为开始时刻， $v e t, r j$ 为结束时刻
$e t, f t$	用户提交的任务服务时间窗口， $e t$ 为最早开始时刻， $f t$ 为最晚结束时刻
$g t, r j, h t, r j$	任务 $t$ 的第 $j$ 个可用时间窗口（由可见时间窗口和服务时间窗口相交可得到）， $g t, r j$ 为开始时刻， $h t, r j$ 为结束时刻
$l t, r, o t, r$	$l t, r$ 和 $o t, r$ 分别为任务 $t$ 在天线 $r$ 上的实际执行开始和结束时刻
$P t$	任务 $t$ 的优先级
$R t$	任务 $t$ 的可用天线集合
$d t$	任务 $t$ 的需求服务时长
$u t$	任务 $t$ 的所属用户航天器
$D t, r$	任务 $t$ 在 $r$ 中的实际执行时长
$a$	任务执行前天线的对准时间
$z$	任务执行后天线的回转时间
$x t, r, j$	若任务 $t$ 在与天线 $r$ 可用时间窗口 $j$ 被执行， $x t, r, j = 1$ ，否则 $x t, r, j = 0$

Table 1

Fig.3

Fig.4

Fig.5

Fig.6

Fig.7

Table 2

Fig.8

Table 3

Table 4

Table 5

Table 6

References 39

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实验编号	常规任务个数	动态任务个数	中继卫星个数	正态分布均值	标准差
C1	100	25	3	600	300
C2	200	25	3	600	300
C3	300	25	3	600	300
C4	400	25	3	600	300
C5	500	25	3	600	300
C6	300	15	3	600	300
C7	300	20	3	600	300
C8	300	25	3	600	300
C9	300	30	3	600	300
C10	300	35	3	600	300
C11	300	25	2	600	300
C12	300	25	3	600	300
C13	300	25	4	600	300
C14	300	25	5	600	300
C15	300	25	6	600	300
C16	300	25	3	500	300
C17	300	25	3	550	300
C18	300	25	3	600	300
C19	300	25	3	650	300
C20	300	25	3	700	300

实验场景	滚动窗口1		滚动窗口2		滚动窗口3
实验场景	初始HV值	收敛HV值	初始HV值	收敛HV值	初始HV值	收敛HV值
C3	0.023	0.704	0.057	0.729	0.086	0.755
C10	0.037	0.720	0.069	0.741	0.102	0.763
C13	0.056	0.776	0.079	0.802	0.118	0.827
C20	0.019	0.653	0.044	0.687	0.071	0.704

实验编号	AMODSA		MDSA‐NSGA‐II		NSGA-Ⅱ		MODJA
实验编号	平均HV值	标准差	平均HV值	标准差	平均HV值	标准差	平均HV值	标准差
C1	0.418	0.033	0.387	0.064	0.376	0.059	0.402	0.051
C2	0.642	0.047	0.605	0.087	0.589	0.054	0.611	0.066
C3	0.805	0.054	0.770	0.034	0.755	0.071	0.793	0.047
C4	0.869	0.059	0.827	0.055	0.794	0.089	0.832	0.105
C5	0.925	0.075	0.861	0.132	0.802	0.086	0.901	0.133
C6	0.728	0.081	0.706	0.066	0.687	0.113	0.711	0.057
C7	0.753	0.103	0.722	0.122	0.692	0.132	0.739	0.049
C8	0.805	0.054	0.770	0.034	0.755	0.071	0.793	0.047
C9	0.811	0.091	0.774	0.098	0.758	0.123	0.796	0.093
C10	0.816	0.122	0.780	0.132	0.764	0.141	0.799	0.037
C11	0.480	0.043	0.442	0.119	0.423	0.061	0.463	0.083
C12	0.805	0.054	0.770	0.034	0.755	0.071	0.793	0.047
C13	0.875	0.086	0.830	0.111	0.811	0.119	0.860	0.081
C14	0.891	0.098	0.857	0.129	0.833	0.087	0.867	0.053
C15	0.904	0.107	0.884	0.068	0.872	0.058	0.891	0.141
C16	0.867	0.116	0.828	0.109	0.806	0.063	0.845	0.074
C17	0.823	0.062	0.801	0.051	0.778	0.116	0.810	0.077
C18	0.805	0.054	0.770	0.034	0.755	0.071	0.793	0.047
C19	0.786	0.071	0.736	0.053	0.711	0.110	0.752	0.089
C20	0.769	0.057	0.742	0.097	0.728	0.085	0.747	0.067

实验编号	覆盖率
实验编号	C（AMODSA， MDSA‐NSGA‐II）	C（MDSA‐NSGA‐Ⅱ， AMODSA）	C（AMODSA， NSGA-Ⅱ）	C（NSGA-Ⅱ， AMODSA，）	C（AMODSA， MODJA）	C（MODJA， AMODSA）
C1	1.000 0	0	1.000 0	0	0.863 3	0.237 2
C2	1.000 0	0	1.000 0	0	0.925 7	0.165 5
C3	1.000 0	0	1.000 0	0	1.000 0	0
C4	1.000 0	0	1.000 0	0	1.000 0	0
C5	1.000 0	0	1.000 0	0	1.000 0	0
C6	0.833 3	0.201 9	0.904 7	0.064 5	0.782 4	0.273 3
C7	1.000 0	0	1.000 0	0	0.972 2	0.054 1
C8	1.000 0	0	1.000 0	0	1.000 0	0
C9	1.000 0	0	1.000 0	0	1.000 0	0
C10	0.921 8	0.103 3	1.000 0	0	0.843 7	0.210 7
C11	1.000 0	0	1.000 0	0	1.000 0	0
C12	1.000 0	0	1.000 0	0	1.000 0	0
C13	1.000 0	0	1.000 0	0	0.988 7	0.060 1
C14	0.927 8	0.093 5	1.000 0	0	0.897 7	0.154 9
C15	0.841 4	0.178 5	0.906 4	0.163 1	0.763 9	0.251 1
C16	1.000 0	0	1.000 0	0	1.000 0	0
C17	1.000 0	0	1.000 0	0	1.000 0	0
C18	1.000 0	0	1.000 0	0	1.000 0	0
C19	1.000 0	0	1.000 0	0	1.000 0	0
C20	0.928 6	0.157 8	1.000 0	0	0.973 6	0.082 3

实验编号	消耗时间/s
实验编号	AMODSA	MDSA‐NSGA‐Ⅱ	NSGA-Ⅱ	MODJA
C1	334.2	509.7	421.2	476.2
C2	406.3	586.0	493.2	521.0
C3	529.7	733.5	649.3	687.1
C4	578.3	798.1	672.8	712.7
C5	612.5	803.9	678.6	764.3
C6	501.7	687.2	595.0	621.7
C7	507.6	699.3	622.8	643.8
C8	529.7	733.5	649.3	687.1
C9	553.4	785.6	674.2	706.4
C10	576.8	799.8	689.3	744.8
C11	465.9	633.0	574.5	593.5
C12	529.7	733.5	649.3	687.1
C13	536.5	754.7	662.7	706.9
C14	564.0	768.1	699.4	727.8
C15	568.2	788.2	701.4	736.1
C16	447.3	598.3	523.9	557.3
C17	498.8	657.9	587.0	623.7
C18	529.7	733.5	649.3	687.1
C19	587.3	811.3	725.3	753.2
C20	601.1	814.7	733.7	774.9

Multi⁃objective dynamic scheduling optimization method for relay satellites based on rolling horizon strategy

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References 39

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实验编号	常规任务个数	动态任务个数	中继卫星个数	正态分布均值	标准差
C1	100	25	3	600	300
C2	200	25	3	600	300
C3	300	25	3	600	300
C4	400	25	3	600	300
C5	500	25	3	600	300
C6	300	15	3	600	300
C7	300	20	3	600	300
C8	300	25	3	600	300
C9	300	30	3	600	300
C10	300	35	3	600	300
C11	300	25	2	600	300
C12	300	25	3	600	300
C13	300	25	4	600	300
C14	300	25	5	600	300
C15	300	25	6	600	300
C16	300	25	3	500	300
C17	300	25	3	550	300
C18	300	25	3	600	300
C19	300	25	3	650	300
C20	300	25	3	700	300

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实验编号	常规任务个数	动态任务个数	中继卫星个数	正态分布均值	标准差
C1	100	25	3	600	300
C2	200	25	3	600	300
C3	300	25	3	600	300
C4	400	25	3	600	300
C5	500	25	3	600	300
C6	300	15	3	600	300
C7	300	20	3	600	300
C8	300	25	3	600	300
C9	300	30	3	600	300
C10	300	35	3	600	300
C11	300	25	2	600	300
C12	300	25	3	600	300
C13	300	25	4	600	300
C14	300	25	5	600	300
C15	300	25	6	600	300
C16	300	25	3	500	300
C17	300	25	3	550	300
C18	300	25	3	600	300
C19	300	25	3	650	300
C20	300	25	3	700	300

实验编号	常规任务个数	动态任务个数	中继卫星个数	正态分布均值	标准差
C1	100	25	3	600	300
C2	200	25	3	600	300
C3	300	25	3	600	300
C4	400	25	3	600	300
C5	500	25	3	600	300
C6	300	15	3	600	300
C7	300	20	3	600	300
C8	300	25	3	600	300
C9	300	30	3	600	300
C10	300	35	3	600	300
C11	300	25	2	600	300
C12	300	25	3	600	300
C13	300	25	4	600	300
C14	300	25	5	600	300
C15	300	25	6	600	300
C16	300	25	3	500	300
C17	300	25	3	550	300
C18	300	25	3	600	300
C19	300	25	3	650	300
C20	300	25	3	700	300