对地观测分布式卫星系统任务协作问题研究
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摘要
对地观测是获取空间对地信息、促进地球系统科学和空间信息科学等学科发展的重要支柱。随着现代小卫星技术,尤其是卫星自主运行技术研究的不断深入,人们开始趋向于利用多颗智能观测小卫星构成对地观测分布式卫星系统,通过星间自主协作来完成越来越繁杂的空间观测任务。分布式卫星系统具有高可靠性、低成本、可重构、可升级、容错性好等特性,同时也面临着星间相对导航、构型保持、分布式控制、多星协同等诸多挑战。本文则是在此背景下,利用Multi-Agent理论的思想和方法,从高层以普适性的角度研究分布式卫星系统中各成员卫星之间是如何根据所需完成的观测任务目标,在动态环境下进行自主协作的相关理论与方法。这即是本文的研究目标。
具体来说,本文所研究的对地观测分布式卫星系统任务协作指的是面向未来分布式卫星系统自主协作运行的发展趋势,就对地观测任务,考虑如何通过协商机制,在满足任务约束的条件下,以完成任务总耗能最小为原则对系统成员卫星进行任务优化分配的过程。其目的在于通过并行性提高任务的完成率。目前,无论国内还是国外,关于对地观测分布式卫星系统任务协作方面的研究都是一个崭新的前沿课题,具有一定的前瞻性。因而,这使得本文问题的研究无论是理论上还是应用上都有着重要的意义。本文在分析对地观测分布式卫星系统自主协作运行模式的基础上,提出了一种面向自主协作的系统体系结构模型,并由此从协商和任务优化分配两方面展开了任务协作机制的研究。主要研究内容和创新研究成果如下:
首先,根据对地观测分布式卫星系统自主协作运行模式的基本特征和总体功能要求,利用Multi-Agent理论,在分析现有分布式卫星系统体系结构的基础上,从组织结构和控制结构两个侧面对系统进行描述,提出了一种适应动态观测环境的两级系统层次混合体系结构模型。另外,又考虑到系统自主协作运行,既要求多星之间相互协作的能力,又要求单星内部自治能力。因而,在构建层次化多维Agent抽象结构模型的基础上,又进一步提出了一种面向任务协作的卫星自主控制结构模型,使之不仅具备单星自治,同时也具有多星协作的功能。
其次,在体系结构模型研究的基础上,借鉴MAS理论中的合同网协议,就其在分布式卫星系统应用中的不足,并考虑卫星间在招投标过程中可能出现的多种情况,对该协议进行扩充;同时引入信任度、合作频度等BDI心智状态参数,形成BDI心智状态模型。将该模型与扩充合同网协议相结合,提出一种基于BDI的分布式卫星系统协商机制。机制中详细描述了实现扩充合同网协议的BDI行为驱动规则,这些规则有助于改善协作质量,从而使系统具有较好的适应性和灵活性,用于系统任务协作问题的求解。
第三,根据对地观测分布式卫星系统任务协作的特点和一些基本假设,构建了任务优化分配问题的数学模型。针对该模型,基于BDI扩充合同网协议,从任务招标、投标和评标三方面研究了DSS如何自主运行实现任务分配的过程,并在此基础上考虑到DSS处于动态不确定的观测环境,进一步就典型动态观测任务的分配机制进行了分析和讨论。
招标过程中,考虑到频繁通信会加重网络负载的情况,给出了一种招标筛选策略及其相应的First—N.随机选择算法。该策略主要思想是结合投标方卫星以往完成观测任务的历史记录,对卫星进行筛选招标,以减轻网络负载和通信量;
投标过程中,引入后移空余时间概念,从时间约束和能源约束两个方面来判断投标方卫星是否有“能力”来完成招标的观测任务,并给出相应时间约束和能源约束的检验算法,分析了算法的时间复杂度;
评标过程中,基于集覆盖的概念,将任务分配问题转化为集覆盖问题。以系统完成观测任务总耗能最小为原则,提出一种严格启发式优化算法,同时证明了算法的收敛性,给出了算法搜索结果上确界和算法时间复杂度,并通过实例将该算法与简单贪婪算法从分配效果方面作了比较。
最后,设计了一个基于Multi-Agent的对地观测分布式卫星系统任务协作原型,并通过一个具体应用示例来说明本文提出的模型、算法以及原型系统在实际中是如何应用的,验证了本文所提出的任务协作理论与方法的合理性和有效性。
Earth observation is a very important approach to gaining earth observation information, improving earth system science, space information science and so on. With the development of modern small satellites' techniques especially that of satellites' autonomous operation, there is an increasing desire in many organizations to use distributed satellites system (DSS), including constellations and fleets, to accomplish more and more complex earth observation mission objectives by autonomous spacecraft working together collaboratively in DSS. The vision of what can be achieved from space is no longer bound by what an individual satellite can accomplish. Rather, the functionality can be spread over a number of cooperating satellites. The reasons for this paradigm switch are many, including the increased production rates to decrease unit cost, and better performance in terms of mission science, fault tolerance, reconfigurability and upgradeability. With these far reaching benefits, however, comes a new set of challenges, including relative navigation, configuration maintenance, distributed control, multi-satellite cooperation and so on. The key technology that will enable multiple, distributed satellites to achieve their potential is coordinated intelligent autonomy. Whatever, DSS open up the opportunity to achieve new capabilities while using relatively inexpensive, perhaps disposable components. Based on it, the objective of this paper is to make a general research on relevant theory and methods of earth observation tasks cooperation for DSS in the dynamic circumstances by Multi-Agent theory.
In detail, Earth observation task cooperation for DSS in this paper is defined as: considering the characteristics of autonomous operation cooperatively for DSS and the requirement of dynamic observing environment sufficiently, various observing tasks are allocated to the satellites in DSS optimally with constraint satisfaction of these tasks. The ultimate object of task cooperation is to make use of negotiation mechanism to accomplish general observation task effectively on the basis of the lowest consumption of energy, so as to improve the rate of accomplishments.
Currently, the research on earth observation task cooperation for DSS is a brand new topic, no matter domestically or abroad. So, it makes our research important and significant in both of theory and practice. By analyzing the characteristics of autonomous cooperation model for earth observation DSS, we pointed out the autonomous control architecture model for DSS, and task cooperation mechanism based on it. Cooperation mechanism includes negotiation and task optimal allocation. The main contents and conclusion of this paper are outlined as follows:
Firstly, according to the basic characteristics and generally functional requirement of earth observation DSS, we hold that it is necessary and feasible to adopt Multiple Agent System (MAS) theory to instruct the research on autonomous control of DSS. The qualitative analysis and comparison of commonly-used autonomous control architectures of DSS is discussed. Based on it, we depict the system through organization structure and control structure. So, a hybrid systematic hierarchical structure model with two levels is put forward to fulfill autonomous coordination demands of DSS under the dynamic circumstances. Moreover, the study on satellite autonomy at home and abroad is still in the early stage, and there are not any guidelines or frameworks to follow till now. A novel agent model on satellite control architecture is outlined, and the components, functions and relationships of agents in the architecture are analyzed. It is designed for multi-satellites coordination and satellite self-government, thus it has generality to some extent.
Secondly, there are some drawbacks in traditional contract net protocol for DSS, so we extend the protocol by MAS theory. In this paper, the conversation policies for extended contract net protocol and a formation model for BDI mental state, such as trust degree, cooperation frequency and so on, are proposed in accordance with selfless characteristics of satellites agent in DSS. Combining the extended protocol and these models, a negotiation mechanism in DSS is presented. A series of detailed rules of action based on BDI agent are set forth in the mechanism to ensure a better cooperation between agents and higher flexibility of system.
Thirdly, according to the features and some basic hypotheses about earth observation task cooperation for DSS, the mathematical model on task optimal allocation is put forward. Based on the model and BDI-extended contract net protocol, we study task optimal allocation for DSS in all the processes of announcing, bidding and awarding, and figure out corresponding algorithm. Based on it, considering DSS is under the dynamic circumstances, the allocation for some typical dynamic tasks is made further study.
In announcing process, considering frequent communication burdening network load, we raise a method for screening bidders, which involve the historic result about completing similar task, and set forth corresponding multi-level First-N random selection algorithm.
In bidding process, citing the conception of backward time slack, we judge whether bidder enable accomplish the observation task by inspecting task constraints satisfaction both of time window constraint and energy constraint. Meanwhile, we list corresponding testing algorithms of time window constraint and energy constraint, and analyze their time complexity.
In awarding process, task allocation is switched to set-covering. So, with the principle of lowest general energy-consumption for completing observation task, we figure out a kind of greedy heuristic algorithm, testify its convergence, and give its searching supremum and time complexity. Moreover, we compare allocation effect of the algorithm with simple greedy algorithm through a case.
Finally, we design a prototype of multi-agent based earth observation task cooperation of distributed satellite system, and offer a case to explain how the depicted model, algorithm and prototype works and to identify reasonability and efficiency of our task cooperation theory.
具体来说,本文所研究的对地观测分布式卫星系统任务协作指的是面向未来分布式卫星系统自主协作运行的发展趋势,就对地观测任务,考虑如何通过协商机制,在满足任务约束的条件下,以完成任务总耗能最小为原则对系统成员卫星进行任务优化分配的过程。其目的在于通过并行性提高任务的完成率。目前,无论国内还是国外,关于对地观测分布式卫星系统任务协作方面的研究都是一个崭新的前沿课题,具有一定的前瞻性。因而,这使得本文问题的研究无论是理论上还是应用上都有着重要的意义。本文在分析对地观测分布式卫星系统自主协作运行模式的基础上,提出了一种面向自主协作的系统体系结构模型,并由此从协商和任务优化分配两方面展开了任务协作机制的研究。主要研究内容和创新研究成果如下:
首先,根据对地观测分布式卫星系统自主协作运行模式的基本特征和总体功能要求,利用Multi-Agent理论,在分析现有分布式卫星系统体系结构的基础上,从组织结构和控制结构两个侧面对系统进行描述,提出了一种适应动态观测环境的两级系统层次混合体系结构模型。另外,又考虑到系统自主协作运行,既要求多星之间相互协作的能力,又要求单星内部自治能力。因而,在构建层次化多维Agent抽象结构模型的基础上,又进一步提出了一种面向任务协作的卫星自主控制结构模型,使之不仅具备单星自治,同时也具有多星协作的功能。
其次,在体系结构模型研究的基础上,借鉴MAS理论中的合同网协议,就其在分布式卫星系统应用中的不足,并考虑卫星间在招投标过程中可能出现的多种情况,对该协议进行扩充;同时引入信任度、合作频度等BDI心智状态参数,形成BDI心智状态模型。将该模型与扩充合同网协议相结合,提出一种基于BDI的分布式卫星系统协商机制。机制中详细描述了实现扩充合同网协议的BDI行为驱动规则,这些规则有助于改善协作质量,从而使系统具有较好的适应性和灵活性,用于系统任务协作问题的求解。
第三,根据对地观测分布式卫星系统任务协作的特点和一些基本假设,构建了任务优化分配问题的数学模型。针对该模型,基于BDI扩充合同网协议,从任务招标、投标和评标三方面研究了DSS如何自主运行实现任务分配的过程,并在此基础上考虑到DSS处于动态不确定的观测环境,进一步就典型动态观测任务的分配机制进行了分析和讨论。
招标过程中,考虑到频繁通信会加重网络负载的情况,给出了一种招标筛选策略及其相应的First—N.随机选择算法。该策略主要思想是结合投标方卫星以往完成观测任务的历史记录,对卫星进行筛选招标,以减轻网络负载和通信量;
投标过程中,引入后移空余时间概念,从时间约束和能源约束两个方面来判断投标方卫星是否有“能力”来完成招标的观测任务,并给出相应时间约束和能源约束的检验算法,分析了算法的时间复杂度;
评标过程中,基于集覆盖的概念,将任务分配问题转化为集覆盖问题。以系统完成观测任务总耗能最小为原则,提出一种严格启发式优化算法,同时证明了算法的收敛性,给出了算法搜索结果上确界和算法时间复杂度,并通过实例将该算法与简单贪婪算法从分配效果方面作了比较。
最后,设计了一个基于Multi-Agent的对地观测分布式卫星系统任务协作原型,并通过一个具体应用示例来说明本文提出的模型、算法以及原型系统在实际中是如何应用的,验证了本文所提出的任务协作理论与方法的合理性和有效性。
Earth observation is a very important approach to gaining earth observation information, improving earth system science, space information science and so on. With the development of modern small satellites' techniques especially that of satellites' autonomous operation, there is an increasing desire in many organizations to use distributed satellites system (DSS), including constellations and fleets, to accomplish more and more complex earth observation mission objectives by autonomous spacecraft working together collaboratively in DSS. The vision of what can be achieved from space is no longer bound by what an individual satellite can accomplish. Rather, the functionality can be spread over a number of cooperating satellites. The reasons for this paradigm switch are many, including the increased production rates to decrease unit cost, and better performance in terms of mission science, fault tolerance, reconfigurability and upgradeability. With these far reaching benefits, however, comes a new set of challenges, including relative navigation, configuration maintenance, distributed control, multi-satellite cooperation and so on. The key technology that will enable multiple, distributed satellites to achieve their potential is coordinated intelligent autonomy. Whatever, DSS open up the opportunity to achieve new capabilities while using relatively inexpensive, perhaps disposable components. Based on it, the objective of this paper is to make a general research on relevant theory and methods of earth observation tasks cooperation for DSS in the dynamic circumstances by Multi-Agent theory.
In detail, Earth observation task cooperation for DSS in this paper is defined as: considering the characteristics of autonomous operation cooperatively for DSS and the requirement of dynamic observing environment sufficiently, various observing tasks are allocated to the satellites in DSS optimally with constraint satisfaction of these tasks. The ultimate object of task cooperation is to make use of negotiation mechanism to accomplish general observation task effectively on the basis of the lowest consumption of energy, so as to improve the rate of accomplishments.
Currently, the research on earth observation task cooperation for DSS is a brand new topic, no matter domestically or abroad. So, it makes our research important and significant in both of theory and practice. By analyzing the characteristics of autonomous cooperation model for earth observation DSS, we pointed out the autonomous control architecture model for DSS, and task cooperation mechanism based on it. Cooperation mechanism includes negotiation and task optimal allocation. The main contents and conclusion of this paper are outlined as follows:
Firstly, according to the basic characteristics and generally functional requirement of earth observation DSS, we hold that it is necessary and feasible to adopt Multiple Agent System (MAS) theory to instruct the research on autonomous control of DSS. The qualitative analysis and comparison of commonly-used autonomous control architectures of DSS is discussed. Based on it, we depict the system through organization structure and control structure. So, a hybrid systematic hierarchical structure model with two levels is put forward to fulfill autonomous coordination demands of DSS under the dynamic circumstances. Moreover, the study on satellite autonomy at home and abroad is still in the early stage, and there are not any guidelines or frameworks to follow till now. A novel agent model on satellite control architecture is outlined, and the components, functions and relationships of agents in the architecture are analyzed. It is designed for multi-satellites coordination and satellite self-government, thus it has generality to some extent.
Secondly, there are some drawbacks in traditional contract net protocol for DSS, so we extend the protocol by MAS theory. In this paper, the conversation policies for extended contract net protocol and a formation model for BDI mental state, such as trust degree, cooperation frequency and so on, are proposed in accordance with selfless characteristics of satellites agent in DSS. Combining the extended protocol and these models, a negotiation mechanism in DSS is presented. A series of detailed rules of action based on BDI agent are set forth in the mechanism to ensure a better cooperation between agents and higher flexibility of system.
Thirdly, according to the features and some basic hypotheses about earth observation task cooperation for DSS, the mathematical model on task optimal allocation is put forward. Based on the model and BDI-extended contract net protocol, we study task optimal allocation for DSS in all the processes of announcing, bidding and awarding, and figure out corresponding algorithm. Based on it, considering DSS is under the dynamic circumstances, the allocation for some typical dynamic tasks is made further study.
In announcing process, considering frequent communication burdening network load, we raise a method for screening bidders, which involve the historic result about completing similar task, and set forth corresponding multi-level First-N random selection algorithm.
In bidding process, citing the conception of backward time slack, we judge whether bidder enable accomplish the observation task by inspecting task constraints satisfaction both of time window constraint and energy constraint. Meanwhile, we list corresponding testing algorithms of time window constraint and energy constraint, and analyze their time complexity.
In awarding process, task allocation is switched to set-covering. So, with the principle of lowest general energy-consumption for completing observation task, we figure out a kind of greedy heuristic algorithm, testify its convergence, and give its searching supremum and time complexity. Moreover, we compare allocation effect of the algorithm with simple greedy algorithm through a case.
Finally, we design a prototype of multi-agent based earth observation task cooperation of distributed satellite system, and offer a case to explain how the depicted model, algorithm and prototype works and to identify reasonability and efficiency of our task cooperation theory.
引文
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