Data-Driven Heuristic Assisted Memetic Algorithm for Efficient Inter-Satellite Link Scheduling in the BeiDou Navigation Satellite System

Inter-satellite link(ISL)scheduling is required by the BeiDou Navigation Satellite System(BDS)to guarantee the system ranging and communication performance.In the BDS,a great number of ISL scheduling instances must be addressed every day,which will certainly spend a lot of time via normal metaheuristics and hardly meet the quick-response requirements that often occur in real-world applications.To address the dual requirements of normal and quick-response ISL schedulings,a data-driven heuristic assisted memetic algorithm(DHMA)is proposed in this paper,which includes a high-performance memetic algorithm(MA)and a data-driven heuristic.In normal situations,the high-performance MA that hybridizes parallelism,competition,and evolution strategies is performed for high-quality ISL scheduling solutions over time.When in quick-response situations,the data-driven heuristic is performed to quickly schedule high-probability ISLs according to a prediction model,which is trained from the high-quality MA solutions.The main idea of the DHMA is to address normal and quick-response schedulings separately,while high-quality normal scheduling data are trained for quick-response use.In addition,this paper also presents an easy-to-understand ISL scheduling model and its NP-completeness.A seven-day experimental study with 10080 one-minute ISL scheduling instances shows the efficient performance of the DHMA in addressing the ISL scheduling in normal(in 84 hours)and quick-response(in 0.62 hour)situations,which can well meet the dual scheduling requirements in real-world BDS applications.

Inter-satellite Link Topology Design and Relative Navigation for Satellite Clusters

A distributed relative navigation approach via inter-satellite sensing and communication for satellite clusters is proposed. The inter-satellite link(ISL)is used for ranging and exchanging data for the relative navigation,which can improve the autonomy of the satellite cluster. The ISL topology design problem is formulated as a multi-objective optimization problem where the energy consumption and the navigation performance are considered. Further,the relative navigation is performed in a distributed fashion,where each satellite in the cluster makes observations and communicates with its neighbors via the ISL locally such that the transmission consumption and the computational complexity for the navigation are reduced. The ISL topology optimization problem is solved via the NSGA-Ⅱ algorithm,and the consensus Kalman filter is used for the distributed relative navigation. The proposed approach is flexible to varying tasks,with satellites joining or leaving the cluster anytime,and is robust to the failure of an individual satellite. Numerical simulations are presented to verify the feasibility of the proposed approach.

Dynamic Characteristics of Inter-Satellite Links in LEO Networks

To establish an efficient inter-satellite link (ISL) in an LEO network, the effect of geometric characteristics of ISL on the ISLs and the devices on the LEO satellite should be examined. Because of the continuous movement of the LEO satellite, the time-varying behaviours of the ISL's geometric charactersistics continuously change with the changes of the satellite's position on the orbit. These dynamic geometric characteristics of the ISLs are important for ISL's performance analyzing and the design of the devices on the LEO satellite. This paper describes dynamic geometric characteristics of ISL, analyzes the impact of these regulations on the tracking system of the satellite's antenna and the power adjusting system of the satellite's transmitter, with the Iridium system as an example.

Adaptive frame length algorithm for inter-satellite links

In view of the low ranging efficiency of the conventional fixed frame-length algorithm in the inter-satellite link,an adaptive frame-length algorithm is proposed. The frame length is adjusted adaptively according to the results of ranging and velocity measuring to improve ranging efficiency. Buffers which enable the frame length to be selected discretely and adaptively are introduced to avoid frequent hopping of the frame-length.Frame length marker is created to automatically identify the frame-length for frame synchronization procedures in receivers. The feasibility and the validity of the proposed algorithm to improve the efficiency of ranging are verified through both theoretic analysis and simulation,and the efficiency improves up to 88% when there are five buffers. This improvement can be further enhanced by increasing the number of buffers. Proper allocation of inter-satellite buffers is required to make a balance between the ranging efficiency and the system complexity.

Zenith pass tracing of the inter-satellite linkage antenna

The inter-satellite linkage antenna of the user satellite uses the Elevation-over-Azimuth type,and the zenith pass problem occurs during tracing TDRS. Firstly,the movement laws of the inter-satellite linkage is introduced for predicting the movement of the user satellite antenna. Then,the potential zenith pass moment is analyzed in detail. Some special orbits for the user satellite that can avoid the blindness zone are obtained. Finally,the zenith pass tracing strategies for the user satellite antenna based on the mechanical tilting are designed by using the trajectory preprocessor. The designs are based on the predicting results of the movement laws of the inter-satellite linkage. The strategies are proved to be reasonable and feasible for solving the zenith pass problem by simulation.

Impacts of inter-satellite links on the ECOM model performance for BDS-3 MEO satellites

Inter-satellite link(ISL)plays an essential role in current and future Global Navigation Satellite System(GNSS).In this study,we investigate the impact of ISL observations on precise orbit determination for BeiDou-3 Navigation Satellite System(BDS-3)Medium Earth Orbit(MEO)satellites based on different Extended CODE Orbit Models(ECOM).Thanks to the better observation geometry of the Ka-band ISL data compared to the L-band data for BDS-3 MEO satellites,the ISL solution substantially reduces Orbit Boundary Discontinuity(OBD)errors,except for C30,which suffers from unstable Ka-band hardware delay.From the external quality analysis,ISL significantly enhances the reliability of the orbit of MEO satellites manufactured by the China Academy of Space Technology(CAST).The standard deviation(STD)of the satellite laser ranging(SLR)residuals is approximately 2.5 cm,and the root mean square(RMS)is reduced by 10–23%compared to L-band solutions.Besides,the Sun-elongation angle dependent systematic error in SLR residuals nearly vanishes based on the reduced 5-parameter ECOM(ECOM1)or extended 7-parameter ECOM(ECOM2)with ISL data.This is because the ISL reduces the correlation between state parameters and solar radiation pressure(SRP)parameters as well as those among SRP parameters,leading to a more accurate estimation of both orbit and SRP perturbations,particularly those along B direction.This confirms that the deficiency of the SRP models for BDS-3 CAST satellites can be compensated by using better observation geometry from ISL data.On the other hand,for the satellite manufactured by Shanghai Engineering Center for Microsatellites(SECM),the ISL allows for a more accurate estimation of the Bc_(1)parameter in the ECOM1 model.This only reduces linear systematic error,possibly because the impact generated by the satellite bus cannot be entirely absorbed by the B-direction parameters.

Analysis of the connectivity and robustness of inter-satellite links in a constellation

In the design of new constellation configurations or research of existing constellation performance,the connectivity and robustness of inter-satellite links (ISL) are needed for analysis.In this paper,graph theory is used to analyze the connectivity and robustness of the ISL in constellations,which are measured under the requirements of a short average distance and a small range of ISL azimuth angles,elevation angles and distances.The method to determine ISL connectivity by using the adjacency matrix of graph theory is put forward for the first time,and the standards of the ISL performance are given using:the number of ways between any two satellites,cutting point,cutting edge,k-connectivity degree and k-edge connectivity degree of graph theory.Finally,in the simulation,the ISLs in the Walker 24/6/1 constellation and the ISLs in the Walker 24/3/1 constellation are established from the optimal perspective of the azimuth angle,elevation angle and distance,and the characteristics of ISL in the Walker 24/6/1 and Walker 24/3/1 constellations are compared.The conclusions of this paper can be used as a reference for the design of new constellation configurations and analysis of existing ISLs.

Orbit determination and time synchronization for BDS-3 satellites with raw inter-satellite link ranging observations

To provide competitive global positioning and timing services under the condition that monitoring stations are confined to Chinese territory,inter-satellite link(ISL)technology is used by the third-generation BeiDou Navigation Satellite System(BDS-3).The ISL,together with the dual one-way links between satellites and anchor stations,may enable autonomous navigation for BDS-3.In this paper,we propose a general observation model for orbit determination(OD)and time synchronization(TS)directly using non-simultaneous observations,such as raw ISL pseudoranges.With the proposed model,satellite orbits,clocks,and hardware delay biases of ISL equipment can be determined simultaneously by jointly processing inter-satellite one-way pseudorange data and observation data from ground monitoring stations.Moreover,autonomous OD and TS are also achievable with one-way pseudorange data from anchor stations and satellites.Data from eight BDS-3 satellites,two anchor stations,and seven monitoring stations located in China were collected to validate the proposed method.It is shown that by jointly processing data from the ISL and seven monitoring stations,the RMS of overlap orbit differences in radial direction is 0.019 m,the overlap clock difference(95%)is 0.185 ns,and the stability of the estimated hardware delay biases for each satellite is greater than 0.5 ns.Compared with the results obtained with the seven stations,the improvements of orbits in radial direction and clocks are 95.7%and 90.5%,respectively.When the hardware delay biases are fixed to predetermined values,the accuracies of orbits and clocks are further improved.By jointly processing pseudoranges from the satellites and the two anchor stations,the RMS of overlap orbit differences is 0.017 m in the radial direction,and the overlap clock difference(95%)is 0.037 ns.It has also been demonstrated that under the condition of one-way ranging links,the accuracies of orbits and clocks obtained by the above two modes are still significantly better than those obtained by using the data from the monitoring stations alone.

Inter-satellite link augmented BeiDou-3 orbit determination for precise point positioning

Precise Point Positioning(PPP) requires precise products, including high-accuracy satellite orbit and clock parameters. It is impossible to obtain an orbit solution that is sufficiently accurate for PPP services with a regional tracking network;therefore, satellite orbits are usually estimated by a global tracking network with a large number of ground stations. However, it is expensive to build globally distributed stations. Fortunately, BeiDou-3 satellites carry an InterSatellite Link(ISL) payload, which can track the whole arc of the BeiDou-3 satellites and enhance the orbit determination accuracy with regional ground stations. In this contribution, a novel orbit determination strategy for BeiDou-3 PPP is proposed, in which the BeiDou-3 satellite orbits are enhanced by the ISL. First, the generation of precise satellite products is demonstrated in detail.In addition, the products are assessed by Satellite Laser Ranging(SLR) residuals and overlap comparisons. Moreover, the products are used for receivers in China's Mainland to carry out the static and kinematic modes to research the PPP performance of Bei Dou-3’s 3IGSO/24MEO constellation.The SLR validations of the satellite orbits demonstrate an accuracy better than 0.1 m in the radial component, and the orbit overlap comparisons show accuracies of 0.016 m in the radial component,0.088 m in the along-track component and 0.087 m in the cross-track component. The Standard Deviation(STD) in the differences in overlapping arcs for the estimated satellite clocks is approximately 0.10 ns. The static PPP results demonstrate that the error in both the horizontal and vertical components is smaller than 10 cm after 30 minutes of convergence. After 24 hours of convergence,the errors are 0.70 cm, 0.63 cm and 1.99 cm for the north, east and up components, respectively.The kinematic PPP experiment illustrates that the Root Mean Square(RMS) position errors in the north, east and up components are approximately 3.23 cm, 5.27 cm and 8.64 cm, respectively,after convergence. The obtainable positioning and convergence performances are comparable to those using products generated by global tracking networks.

Precise orbit determination for a large LEO constellation with inter-satellite links and the measurements from different ground networks:a simulation study

Geodetic applications of Low Earth Orbit(LEO)satellites requires accurate satellite orbits.Instead of using onboard Global Navigation Satellite System observations,this contribution treats the LEO satellite constellation independently,using Inter-Satellite Links and the measurements of different ground networks.Due to geopolitical and geographical reasons,a ground station network cannot be well distributed.We compute the impact of different ground networks(i.e.,global networks with different numbers of stations and regional networks in different areas and latitudes)on LEO satellite orbit determination with and without the inter-satellite links.The results are based on a simulated constellation of 90 LEO satellites.We find that the orbits determined using a high latitude network is worse than using a middle or low latitude network.This is because the high latitude network has a poorer geometry even if the availability of satellite measurements is higher than for the other two cases.Also,adding more stations in a regional network shows almost no improvements on the satellite orbits if the number of stations is more than 16.With the help of ISL observations,however,the satellite orbits determined with a small regional network can reach the same accuracy as that with the global network of 60 stations.Furthermore,satellite biases can be well estimated(less than 0.6 mm)and have nearly no impact on satellite orbits.It does thus not matter if they are not physically calibrated for estimating precise orbits.

Autonomous satellite constellation orbit determination using the star sensor and inter-satellite links data

A method of autonomous orbit determination for a satellite constellation using a star sensor combined with inter satellite links(ISLs) is studied.Two types of simulated observation data,Three-Satellite Constellation ISLs and background stellar observations by a CCD star sensor,are first produced.Based on these data,an observation equation is built for the constellation joint autonomous orbit determination,in which the simulations are run.The accuracy of this method with different orbital determination models are analyzed and compared with regard to the effect of potential measurement errors.The results show that autonomous satellite constellation orbit determination using star sensor measurement and ISLs data is feasible.Finally,this paper arrives at several conclusions which contribute to extending this method to a more general satellite constellation.

电动汽车电控液压制动系统CarSim/Simulink联合仿真研究

针对某款国产电动汽车的电控液压制动系统,文章基于滑移率的比例-积分-微分(PID)控制提出了防抱死制动系统(ABS)模型,以改善车辆制动性能,提高在对开路面上的制动有效性和安全性。首先,使用Simulink软件建立液压电控制动系统的动力学模型;然后,基于滑移率设计PID控制器,并通过1/4车辆模型验证其有效性;最后,利用S函数将ABS控制器的Simulink模型输入CarSim平台中,开展CarSim/Simulink双平台联合控制仿真。结果表明,基于滑移率的PID控制的ABS对比无ABS的车辆,制动性能更加优越,在对开路面上制动稳定性更加明显。

一种MAKLINK图多节点链路建模的路径规划研究

针对传统MAKLINK图规划路径线路改变时,其最优化路径易与环境约束条件冲突的问题,提出了在MAKLINK图中各链路上增加节点数目的方法,以提高系统建模的适应性和鲁棒性。设计的多节点链路通过dijkstra算法得到更为理想的次优化路径,由蚁群算法进行迭代计算获得最优化路径,实现了在保证路径适应度的前提下,提高优化路径对环境约束条件的适应性。实验结果表明,与基本MAKLINK图路径规划算法相比,多节点链路的建模路径规划算法可有效提高次优路径的建模精度,最优路径的适应度值较单节点链路减小了1.43%,具有一定的建模优势。

Effect of different inter-satellite range on measurement precision of Earth’s gravitational field from GRACE

The precision of Earth＇s gravitational field from GRACE up to degree and order 120 was studied for different inter-satellite ranges using the improved energy conservation principle. Our simulated result shows that： For long wavelength （L≤20） at degree 20, the cumulative geoid-height error gradually decreased with increasing range, from 0. 052 cm for 110 km to 1. 156 times and 1. 209 times as large for 220 km and 330 kin, respectively. For medium-wavelength （ 100 ≤ L ≤ 120） at degree 120, the cumulative geoid-height error de- creased from 13. 052 cm for 110 km, to 1. 327 times and 1. 970 times as large for the ranges of 220 km and 330 km, respectively; By adopting an optimal range of 220 ± 50 km, we can suppress considerably the loss of precision in the measurement of the Earth＇ s long-wavelength and medium-wavelength gravitational field.

面向Link16的QualNet与虚拟机信息交互接口设计与实现

Link16是美国国防部采用的高速视距战术数据链,广泛应用于美国海军、联合部队和北约部队,针对其开展测试评估具有重要军事意义。通过硬件在环技术将Link16实物设备接入到仿真测试中,可有效提高测试结果的真实性和准确性。然而当测试场景需要进行实物设备组网测试时,仍会带来成本问题。为此,提出一种面向QualNet MAC层的Link16专属模型以及与之匹配的虚拟机信息交互接口。该模型可高逼真模拟Link16通信行为,实现Link16节点竞争接入、时隙划分、NPG分组等功能。并基于数据分布式服务实现了虚拟机交互接口,将运行在虚拟机的Link16设备模型接入QualNet测试场景。实验测试结果表明,所设计模型具有较高真实性和准确性且接口引入延时不超过1 ms,为大规模数据链网络测试提供一种新方法。

Coherent optical frequency transfer via 972-km fiber link

We demonstrate coherent optical frequency dissemination over a distance of 972 km by cascading two spans where the phase noise is passively compensated for.Instead of employing a phase discriminator and a phase locking loop in the conventional active phase control scheme,the passive phase noise cancellation is realized by feeding double-trip beat-note frequency to the driver of the acoustic optical modulator at the local site.This passive scheme exhibits fine robustness and reliability,making it suitable for long-distance and noisy fiber links.An optical regeneration station is used in the link for signal amplification and cascaded transmission.The phase noise cancellation and transfer instability of the 972-km link is investigated,and transfer instability of 1.1×10^(-19)at 10^(4)s is achieved.This work provides a promising method for realizing optical frequency distribution over thousands of kilometers by using fiber links.

一种改进的Link16信号检测方法

直接序列扩频、高速跳频与跳时相结合的技术,造成了对Link16信号的检测具有相当的难度。文中针对突发Link16信号脉冲宽度强规律性,借鉴双滑动窗算法在突发信号检测上的应用,提出了改进后基于相关处理的双滑动窗Link16信号检测方法,该方法可实现复杂电磁环境下对Link16信号的高灵敏度、高概率检测,同时正确估算出脉宽、码速率等参数信息。仿真实验数据验证了理论分析的正确性和所述方法的有效性,相较于其他Link16信号检测方法,改进后的基于相关处理的双滑动窗检测算法明显提高了在低信噪比下对Link16信号的检测能力。

Corneal collagen cross-linking in patients with keratoconus from the Dresden protocol to customized solutions:theoretical basis

Keratoconus is an ectatic condition characterized by gradual corneal thinning,corneal protrusion,progressive irregular astigmatism,corneal fibrosis,and visual impairment.The therapeutic options regarding improvement of visual function include glasses or soft contact lenses correction for initial stages,gas-permeable rigid contact lenses,scleral lenses,implantation of intrastromal corneal ring or corneal transplants for most advanced stages.In keratoconus cases showing disease progression corneal collagen crosslinking(CXL)has been proven to be an effective,minimally invasive and safe procedure.CXL consists of a photochemical reaction of corneal collagen by riboflavin stimulation with ultraviolet A radiation,resulting in stromal crosslinks formation.The aim of this review is to carry out an examination of CXL methods based on theoretical basis and mathematical models,from the original Dresden protocol to the most recent developments in the technique,reporting the changes proposed in the last 15y and examining the advantages and disadvantages of the various treatment protocols.Finally,the limits of non-standardized methods and the perspectives offered by a customization of the treatment are highlighted.

基于GS1 Digital Link的Web编码构建与案例应用

为探索GS1 Digital Link技术在产品物流中的应用潜力,分析研究了GS1系统和GS1 Digital Link的基本结构、编码特点以及技术优势,充分利用GS1 Digital Link技术可以为产品从源头到零售整个物流过程提供相关对象的Web地址编码的特点,以鲜活大闸蟹物流过程为例,构建了基于GS1 Digital Link的鲜活大闸蟹Web编码,为实现产品营销与追溯提供了标准化、动态化、多样化的编码数据支撑。

Time Transfer in a 1839-km Telecommunication Fiber Link Demonstrating a Picosecond-Scale Stability

An implementation of high-precision time transfer over a 1839-km field fiber loop back link between two provincial capitals of China,Xi’an and Taiyuan,is reported.Time transfer stabilities of 6.5 ps at averaging time of 1 s and 4.6 ps at 40000 s were achieved.The uncertainty for the time transfer system was evaluated,showing a budget of 56.2 ps.These results stand for a significant milestone in achieving high-precision time transfer over a field fiber link spanning thousands of kilometers,signifying a record-breaking achievement for the real-field time transfer in both stability and distance,which paves the way for constructing the nationwide high-precision time service via fiber network.