Optimally Scheduling Satellite Communications. Brian Lemay
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1 Optimally Scheduling Satellite Communications Brian Lemay University of Michigan Co-authors: Prof Amy Cohn, Prof James Cutler, Jeremy Castaing, Robert Zideck
![140 station antennas [1] Elizabeth Buchen and](/docs-images/89/98408764/images/2-2.jpg "Dominic DePasquale.")
2 Motivations QB50 Mission Expected to Launch in kg Satellite Launches [1] Year: Approx. Launches Per Year: station antennas [1] Elizabeth Buchen and Dominic DePasquale. Nano/Microsatellite Market Assesment. SpaceWorks Enterprises, Inc
3 Goal and Outline Schedule downloads for a multi-satellite, multiground station system. Inputs Orbits Contact Times Model Decisions Constraints Objective Results Run Times Analysis 3
4 Orbits and Stations Satellite ground tracks 4
5 Abstract Representation of Contact t 0 t 1 Times Station 1 Satellite 1 Station 2 Station 3 i=1 5
6 Abstract Representation of Contact Times t 0 t 1 t 2 t 3 Station 1 Satellite 1 Station 2 Station 3 i=1 i=2 i=3 6
7 Abstract Representation of Contact Times t 0 t 1 t 2 t 3 Station 1 Station 2 Satellite 1 Satellite 2 Station 3 i=1 i=2 i=3 7
8 Abstract Representation of Contact Times t 0 t 1 t 2 t 3 t 4 Station 1 Station 2 Satellite 1 Satellite 2 Station 3 i=1 i=2 i=3 i=4 8
9 Abstract Representation of Contact Times t 0 t 1 t 2 t 3 t 4 Station 1 Station 2 Satellite 1 Satellite 2 Satellite 3 Station 3 i=1 i=2 i=3 i=4 9
10 Abstract Representation of Contact Times t 0 t 1 t 2 t 3 t 4 Station 1 Station 2 Satellite 1 Satellite 2 Satellite 3 Station 3 i=1 i=2 i=3 i=4 10
11 Abstract Representation of Contact Times t 0 t 1 t 2 t 3 t 4 Station 1 Station 2 Satellite 1 Satellite 2 Satellite 3 Station 3 i=1 i=2 i=3 i=4 11
12 The Multi-Satellite, Multi- Station Scheduling Problem (MMSP) Objective: to maximize the total amount of data downloaded over the planning horizon Subject to: Download opportunities Conflicts Energy & Data Dynamics Stations Characteristics: Download Rate (bits/sec) Download Cost (joules/bit) Efficiency (percentage of download actually received) 12
13 Download Decisions x sig Percentage of interval i that satellite s downloads to ground station g q sig Amount of data downloaded from satellite s during interval i to ground station g 13
14 A Simple Schedule Station 1 Interval 1 Interval 2 x q x q Satellite 1 40% 2 Mb 0% 0 Mb Satellite 2 60% 3 Mb 30% 1 Mb Station 1 Satellite 1 Satellite 2 Download i=1 i=2 14
15 Energy and Data Dynamics Energy available is based on previous energy + energy gained - energy spent unrelated to downloads - energy used for downloads Data available is based on previous data + data gained - data lost - data successfully downloaded Parameters: δ i e+ : net amount of energy acquired (joules) δ i e- : net amount of energy acquired (joules) δ i d+ : net amount of data acquired (bits) δ i d- : net amount of data acquired (bits) α ig : Download cost (joules/bit) η ig : Download efficiency (% received) Variables: q ig : Amount of data downloaded (bits) e i : Energy available (joules) d i : Data available (bits) 15
16 What do we want to look at? Tractability: Can it solve real-world problems in a reasonable amount of time? Quality: How much value does it add over a simpler, more traditional scheduling approach? Applications: How can it be used as a mechanism for conducting analysis on a mission? 16
17 Generating Data for Testing Generated orbital information for each of the 50 satellites for the QB 50 mission Determine which ground stations are in view Determine when in view of the Sun stations are located at each participating university and are randomly categorized as good, average, or poor 17
18 Time (Seconds) Solve Times (50 Satellites, 50 Stations) Length of Planning Horizon (Days) MMSP model can be solved quickly for realistic planning horizons 18
19 Comparison Method Greedy Heuristic For each time interval: Identify maximum possible download for each satellite Schedule the maximum download Eliminate the participating satellite and ground station from the list of potential downloads Repeat until no more feasible downloads 19
20 Value of Optimization Energy Gain (joules/sec) Optimization Total Download (MB) Greedy Total Download (MB) % % % % % % % % % % % Improvement Over Greedy 1. Satellites can collect less energy 2. Optimization provides significant value when they do 20
21 Value of Optimization Data Gain Improvement Over Greedy Base Case (0.3 Mb/Day) 0.2% x5 0.2% x10 0.2% x15 4.5% x % x % x % x % Optimization provides significant value when satellites collect more data than what is currently planned 21
22 Analysis of Deployment Options 22
23 Data Downloaded (bits) Analysis of Deployment Options 120,000, ,000,000 80,000,000 60,000,000 40,000,000 20,000, min deploy 5 min deploy 10 min deploy Week Number 1-minute 5-minutes 10-minutes Total Download (MB) Improvement (%) % 19.8% 10-minute spacing enables more data to be downloaded 23
24 Conclusions and Future Work Capable of quickly solving real problems with clear benefits over more traditional methods Enabled sensitivity analysis for evaluating system capabilities and bottlenecks MMSP adds the most value in scenarios where energy is a limiting resource Future Work: Stochastic instances, prioritized downloads, fairness of downloads 24
25 Thank You! Contact info: Brian Lemay: Amy Cohn: James Cutler: Jeremy Castaing: Robert Zideck: We gratefully acknowledge the financial support of: National Science Foundation (CNS ) Air Force Research Laboratory (FA ) 25
26 Objective: Maximize total download over the planning horizon Parameters: sig : Indicator if in view during i η ig : Download efficiency (% received) t i : Duration of interval (sec) ig : Download rate (bits/sec) α ig : Download cost (joules/bit) δ sie : net amount of energy acquired (joules) δ sid : net amount of data acquired (bits) Variables: x sig : Percent of interval used for download q sig : Amount of data downloaded (bits) e si : Energy available (joules) d si : Data available (bits) h sie : excess energy spilled h sid : excess data spilled 26
27 Can only download if satellite is in range of ground station Parameters: sig : Indicator if in view during i η ig : Download efficiency (% received) t i : Duration of interval (sec) ig : Download rate (bits/sec) α ig : Download cost (joules/bit) δ sie : net amount of energy acquired (joules) δ sid : net amount of data acquired (bits) Variables: x sig : Percent of interval used for download q sig : Amount of data downloaded (bits) e si : Energy available (joules) d si : Data available (bits) h sie : excess energy spilled h sid : excess data spilled 27
28 stations cannot receive data for more than 100% of each interval Parameters: sig : Indicator if in view during i η ig : Download efficiency (% received) t i : Duration of interval (sec) ig : Download rate (bits/sec) α ig : Download cost (joules/bit) δ sie : net amount of energy acquired (joules) δ sid : net amount of data acquired (bits) Variables: x sig : Percent of interval used for download q sig : Amount of data downloaded (bits) e si : Energy available (joules) d si : Data available (bits) h sie : excess energy spilled h sid : excess data spilled 28
29 Satellites cannot transmit data for more than 100% of each interval Parameters: sig : Indicator if in view during i η ig : Download efficiency (% received) t i : Duration of interval (sec) ig : Download rate (bits/sec) α ig : Download cost (joules/bit) δ sie : net amount of energy acquired (joules) δ sid : net amount of data acquired (bits) Variables: x sig : Percent of interval used for download q sig : Amount of data downloaded (bits) e si : Energy available (joules) d si : Data available (bits) h sie : excess energy spilled h sid : excess data spilled 29
30 Download amount is limited by length of interval and download rate Parameters: sig : Indicator if in view during i η ig : Download efficiency (% received) t i : Duration of interval (sec) ig : Download rate (bits/sec) α ig : Download cost (joules/bit) δ sie : net amount of energy acquired (joules) δ sid : net amount of data acquired (bits) Variables: x sig : Percent of interval used for download q sig : Amount of data downloaded (bits) e si : Energy available (joules) d si : Data available (bits) h sie : excess energy spilled h sid : excess data spilled 30
31 Initial energy available Parameters: sig : Indicator if in view during i η ig : Download efficiency (% received) t i : Duration of interval (sec) ig : Download rate (bits/sec) α ig : Download cost (joules/bit) δ sie : net amount of energy acquired (joules) δ sid : net amount of data acquired (bits) Variables: x sig : Percent of interval used for download q sig : Amount of data downloaded (bits) e si : Energy available (joules) d si : Data available (bits) h sie : excess energy spilled h sid : excess data spilled 31
32 Energy buffer size: lower and upper bound on stored energy Parameters: sig : Indicator if in view during i η ig : Download efficiency (% received) t i : Duration of interval (sec) ig : Download rate (bits/sec) α ig : Download cost (joules/bit) δ sie : net amount of energy acquired (joules) δ sid : net amount of data acquired (bits) Variables: x sig : Percent of interval used for download q sig : Amount of data downloaded (bits) e si : Energy available (joules) d si : Data available (bits) h sie : excess energy spilled h sid : excess data spilled 32
33 Energy available is based on previous energy + energy gained - energy used - any excess energy that must be spilled Parameters: sig : Indicator if in view during i η ig : Download efficiency (% received) t i : Duration of interval (sec) ig : Download rate (bits/sec) α ig : Download cost (joules/bit) δ sie : net amount of energy acquired (joules) δ sid : net amount of data acquired (bits) Variables: x sig : Percent of interval used for download q sig : Amount of data downloaded (bits) e si : Energy available (joules) d si : Data available (bits) h sie : excess energy spilled h sid : excess data spilled 33
34 Initial data available Parameters: sig : Indicator if in view during i η ig : Download efficiency (% received) t i : Duration of interval (sec) ig : Download rate (bits/sec) α ig : Download cost (joules/bit) δ sie : net amount of energy acquired (joules) δ sid : net amount of data acquired (bits) Variables: x sig : Percent of interval used for download q sig : Amount of data downloaded (bits) e si : Energy available (joules) d si : Data available (bits) h sie : excess energy spilled h sid : excess data spilled 34
35 Data buffer size: lower and upper bound on stored energy Parameters: sig : Indicator if in view during i η ig : Download efficiency (% received) t i : Duration of interval (sec) ig : Download rate (bits/sec) α ig : Download cost (joules/bit) δ sie : net amount of energy acquired (joules) δ sid : net amount of data acquired (bits) Variables: x sig : Percent of interval used for download q sig : Amount of data downloaded (bits) e si : Energy available (joules) d si : Data available (bits) h sie : excess energy spilled h sid : excess data spilled 35
36 Data available is based on previous data + data gained - data used - any excess data that must be spilled Parameters: sig : Indicator if in view during i η ig : Download efficiency (% received) t i : Duration of interval (sec) ig : Download rate (bits/sec) α ig : Download cost (joules/bit) δ sie : net amount of energy acquired (joules) δ sid : net amount of data acquired (bits) Variables: x sig : Percent of interval used for download q sig : Amount of data downloaded (bits) e si : Energy available (joules) d si : Data available (bits) h sie : excess energy spilled h sid : excess data spilled 36
37 Variable limits Parameters: sig : Indicator if in view during i η ig : Download efficiency (% received) t i : Duration of interval (sec) ig : Download rate (bits/sec) α ig : Download cost (joules/bit) δ sie : net amount of energy acquired (joules) δ sid : net amount of data acquired (bits) Variables: x sig : Percent of interval used for download q sig : Amount of data downloaded (bits) e si : Energy available (joules) d si : Data available (bits) h sie : excess energy spilled h sid : excess data spilled 37
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