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A Strategy to Determine Whether to Use GPU for a Satellite Mission Scheduling Algorithm

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A Strategy to Determine Whether to Use GPU for a Satellite Mission Scheduling Algorithm Trans. Japan Soc. Aero. Space Sci. Vol. 55, No. 3, pp. 166–174, 2012 A Strategy to Determine Whether to Use GPU for a Satellite Mission Scheduling Algorithm By Soojeon LEE, Byoung-Sun LEE and Jaehoon KIM Satellite System Research Team, Electronics and Telecommunications Research Institute, Daejeon, South Korea (Received June 9th, 2011) As the first Korean multi-mission geostationary satellite, Chollian was launched on June 27, 2010. Chollian is being successfully controlled using a satellite ground control system (SGCS) developed by ETRI. A mission planning subsys- tem (MPS) in SGCS gathers mission requests from users, performs complex mission scheduling, and generates a conflict- free mission schedule. In this paper, we provide an overview of the current mission scheduling algorithms of the Chollian satellite, select three representative constraint checking schemes among these algorithms, and implement new graphics processing unit (GPU)-based constraint checking schemes for the three representative schemes. We compare the performance of the GPU-based and CPU-based constraint checking schemes based on the size of the problem set and the time complexity of the problem. Finally, we suggest a strategy to determine whether or not to adopt GPU for a satellite mission scheduling algorithm. Key Words: Mission Scheduling Algorithm, Mission Planning System, COMS, Chollian Satellite, CUDA, GPU 1. Introduction Like the mission scheduling algorithms of other Korean satellites, Arirang-2, Arirang-3 and Arirang-5,7–9) as well As a multi-mission geostationary satellite, Chollian, also as most of the general mission scheduling algorithms,10–13) called the Communication, Ocean, and Meteorological the mission scheduling algorithms used for the Chollian Satellite (COMS), was launched on June 27, 2010. The satellite are based on a central processing unit (CPU). In this Chollian satellite is located at 128.2 degrees East longitude work, we implement graphics processing unit (GPU)-based and 36,000 km from the Earth. This makes Korea the tenth Chollian mission schedule algorithms and compare the country in the world to develop a geostationary communica- performance with CPU-based ones. Even though a GPU is tions satellite, which will operate over the next seven years. basically used for graphics computations, general-purpose The Chollian satellite has three different payloads for three computation on a GPU (GPGPU)14) has become a reality different purposes: satellite communications, ocean obser- over the last few years. A GPU enables fast parallel process- vations and meteorological observations. Especially for ing for massive data by allowing thread-level parallelism on the satellite broadcasting and telecommunications, there hundreds of multi-cores. has been various research1–3) conducted and ETRI devel- Among the various steps used in the Chollian satellite’s oped the Ka-band communications payload for the Chollian mission scheduling algorithms, this paper focuses on the satellite. For the operation of the Chollian satellite, several ground segments cooperate as shown in Fig. 1. Users from the Communications Test Earth Station (CTES), the Korea Ocean Satellite Center (KOSC), and the Meteorological Satellite Center (MSC) submit mission requests to the COMS S/L-band link Ka-band link link satellite ground control system (SGCS). The image data L-band link acquisition and control systems (IDACSs) in KOSC and S/L-band MSC receive raw data from the satellite and perform image preprocessing to generate Level1B data. Even if each user provides a perfect conflict-free mission Korea Ocean Satellite Meteorological Satellite Satellite Operations Center Communications Test Earth request for his/her own organization, conflicts can fre- Center (KOSC) Center (MSC) (SOC) Station (CTES) Satellite ground control -Satellite communications system (SGCS) -Communication system quently occur after mixing the requests received from differ- Image data Image data -Tracking, telemetry, & monitoring and control acquisition & control acquisition & control commanding system (IDACS) system (IDACS) ent organizations. In one of the examples, if meteorological -Satellite operations -Mission planning -Flight dynamics imaging and oceanic imaging are both executed at the same operation Satellite ground control -Satellite simulation time, degradation in image quality may occur in a meteoro- system (SGCS) Image data acquisition & control system logical image. To prevent these problems, Chollian-specific (IDACS) mission scheduling algorithms4–6) are required. Fig. 1. Chollian ground segment architecture. Ó 2012 The Japan Society for Aeronautical and Space Sciences May 2012 S. LEE et al.: A Strategy to Determine Whether to Use GPU for a Satellite Mission Scheduling Algorithm 167 Satellite ground control system Table 1. Categories of the constraint checking schemes. (SGCS) Category Constraint checking schemes Mission planning Chollian subsystem (MPS) MI image properties CheckMIMaxDuration - Mission request gathering CheckMIImageBoundary S-band link - Mission scheduling - Mission schedule CheckExclusion reporting Overlap of missions CheckInclusion Telemetry, tracking, Real-time operations Flight dynamics Predecessor-successor relations CheckSequence and command (TTC) subsystem (ROS) subsystem (FDS) - Orbit determination CheckNonSequence - Telemetry reception - Telemetry processing and prediction - Command transmission - Telemetry analysis - Station-keeping and CheckMaxTimeGap - Tracking and ranging - Command planning re-location planning - Control and monitoring - Telecommand processing - Satellite event prediction CheckMinTimeGap - Satellite fuel accounting COMS simulator subsystem (CSS) 2.2. Mission scheduling steps - Satellite static simulation - Command verification 2.2.1. MI and GOCI algorithms - Anomaly simulation For MI mission requests received from the MSC, image duration calculation, scan coordinate conversion, and pro- Fig. 2. Functional block diagram of SGCS. portional command generation are performed by the MI algorithm. For GOCI mission requests received from KOSC, the displacement angle of the mirror pointing mech- constraint checking schemes, which are able to be applied anism is calculated by the GOCI algorithm. for other satellites’ mission scheduling, as well. Constraint 2.2.2. Constraint check checking schemes used for the Chollian satellite’s mission Constraints are checked using pre-defined Chollian- scheduling algorithms are categorized into three groups. specific relation rules such as exclusion, inclusion and pred- For a representative scheme in each category, we implement ecessor-successor relationships among missions, including a GPU-based version and compare the performance with a event information and maneuver requests. CPU-based one. Finally, we suggest a simple but efficient 2.2.3. Priority check strategy to determine whether or not to use GPU for a satel- If missions that have an exclusion relation and different lite mission scheduling algorithm. priorities overlap with each other, the mission having lower priority is always discarded based on the priority rules. 2. Mission Planning Overview 3. Analysis of the Constraint Checking Schemes The SGCS of the Chollian satellite enables the satellite operator to execute the satellite missions14) and control 3.1. Categories the satellite. The SGCS consists of five subsystems: tele- The constraint checking schemes of the Chollian satellite metry, tracking and command (TTC), real-time operations can be categorized as shown in Table 1. subsystem (ROS), mission planning subsystem (MPS), 3.1.1. MI image properties flight dynamics subsystem (FDS) and COMS simulator There are two regulations regarding the MI imaging itself. subsystem (CSS), as shown in Fig. 2. The mission sched- First, the imaging duration of each observation area must be uling algorithms in this paper are implemented in an smaller than its maximum duration limit. Second, the imag- MPS. ing boundary of each observation area must be within its 2.1. Meteorological and oceanic missions maximum boundary limit. These two regulation schemes are 2.1.1. Missions via meteorological imager called CheckMIMaxDuration and CheckMIImageBoundary. There are three meteorological imager (MI) observation 3.1.2. Overlap of missions modes: global, regional and local. The global mode includes There are two general rules dealing with the overlapping full disk (FD) imaging that covers the entire Earth. FD imag- of missions: exclusion and inclusion. The former is a reg- ing normally takes less than 1,620 s. The regional mode in- ulation stating that missions that have an exclusion relation cludes the Asia-Pacific Northern Hemisphere (APNH), the must not be executed simultaneously, while the latter states Extended Northern Hemisphere (ENH), and the Limited that mission A must be executed within mission B’s time Southern Hemisphere (LSH) areas. The local mode includes window if there is an inclusion relationship, A B, be- the Local Area (LA) imaging, which covers a randomly se- tween them. These two regulation schemes are called lectable area in the FD boundary. CheckExclusion and CheckInclusion. 2.1.2. Missions via geostationary ocean color imager 3.1.3. Predecessor-successor relations A geostationary ocean color imager (GOCI) takes oceanic Four rules exist depending on the predecessor-successor images around the Korean peninsula. A GOCI image can in- relations. The first rule is about the sequence of missions. clude a maximum of 16 slots, and contiguous slots have If there is a sequence rule
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