CN115660313A - High-low orbit multi-satellite cluster task cooperative architecture and dynamic organization method and system - Google Patents
High-low orbit multi-satellite cluster task cooperative architecture and dynamic organization method and system Download PDFInfo
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Abstract
The invention provides a high-low orbit multi-satellite cluster task collaborative architecture and dynamic organization method and system, wherein the method comprises the steps that a high-orbit satellite cluster receives a remote sensing observation task and carries out initial observation on the remote sensing observation task; the high orbit star group initially distributes the observation task to a low orbit star group at least according to the position of each star group and the idle state of each star group load; the main satellite of the low orbit satellite group distributes the task to the secondary satellite of the low orbit satellite group for the second time to complete the observation task according to the type of the observation task and the state of each satellite in the constellation; the subordinate satellites of the low-orbit satellite group move the relevant loads to the region or airspace where the observation task is located, and the target is observed and continuously tracked; after the slave stars of the low orbit star group complete target observation, the observation result is fed back to the user; and the ground control center monitors and intervenes with all satellites in the constellation in real time in the observation task execution process.
Description
Technical Field
The invention relates to the field of satellite remote sensing, in particular to a high-low orbit multi-satellite cluster task cooperative framework and a dynamic organization method and system.
Background
In order to reasonably and efficiently utilize precious satellite resources and maximally meet the task requirements of users in diversified, multidimensional and multilevel manners, the multi-satellite cluster task collaborative planning technology is widely concerned by the global industrial and academic circles. At present, the scheduling object of the satellite mission planning is the whole satellite cluster earth-ground and air observation resources, including the set of visible light, infrared, microwave and hyperspectral loads, and the planning aims at arranging the action of the whole satellite set, so that the user demand can be maximally met on the premise of meeting all constraints of the satellite.
Compared with the traditional single-satellite task, the satellite cluster task has the characteristics of cooperation and handover. Firstly, multi-satellite cooperation between high and low rails is needed to complete joint positioning observation of the same target, resource advantages of each node of the high and low rails are fully utilized, and task fine execution is completed; and secondly, the space relation between the target and the satellite is dynamically changed, so that the inter-constellation handover is required in the task execution process, and the task execution continuity and stability are realized.
Compared with the existing constellation organization structure, such as a Beidou navigation satellite constellation structure, the remote sensing satellite constellation organization structure is more diverse, and has the characteristics of complex task, multi-target dimensionality and diversified task dynamic cooperation. Aiming at the difference of high-orbit satellites, low-orbit satellites and the ground in the aspects of information processing capacity, visual range and the like and the diversified observation characteristics and requirements of heterogeneous loads such as satellite optical loads, microwave loads and hyperspectrum, a dynamic constellation organization and task planning method based on high-low ground cooperation is always a common problem faced by the engineering and academic circles. At present, the complex constellation construction methods related to high-orbit and low-orbit satellites are few, and the method cannot meet the large-scale development requirement of multiple loads and multiple tasks of a remote sensing constellation in the future.
Disclosure of Invention
In view of the above, the present invention provides a high-low orbit multi-satellite cluster task collaborative architecture and a dynamic organization method, by which the problems of task collaborative planning and joint scheduling of space-based earth-ground and air observation resources are solved, comprehensive management and control and benefit maximization of multiple types of space-based observation resources are realized, and the problems of task collaborative allocation and scheduling between multi-task and multi-load in space-based detection of the existing satellite cluster are solved, including the following steps:
receiving a remote sensing observation task by a high-orbit star group, and carrying out initial observation on the remote sensing observation task;
the high orbit satellite group initially distributes the observation task to a low orbit satellite group according to the position of each satellite group and the idle state of each satellite group load, and a main satellite of the low orbit satellite group receives the observation task;
the main satellite of the low orbit satellite group distributes the task to the secondary satellite of the low orbit satellite group for the second time to complete the observation task according to the type of the observation task and the state of each satellite in the constellation;
the slave satellites of the low-orbit satellite group point the transfer related loads to regions or airspaces where the observation tasks are located, and the target is observed and continuously tracked;
after the secondary stars of the low-orbit star group complete target observation, the observation result is fed back to the user;
in the observation task execution process, the ground control center monitors and intervenes with all satellites in a constellation in real time, and along with the change of the satellite orbit, the task attribute and the relative position, the dynamic organization of the high-low orbit multi-satellite cluster task specifically comprises the following steps: dynamic handover of high-low orbit cooperative links, dynamic handover of a master satellite in a low orbit constellation, dynamic handover of slave satellites between low orbit constellations and target handover between low orbit constellations.
Particularly, the remote sensing observation task is a random observation task captured by the high orbit satellite, or a remote sensing observation task generated by a ground system according to a plan, and the high orbit satellite is administered in the region where the task is located.
Particularly, the dynamic handover of the high-low orbit cooperative links comprises two handover modes, namely high-low link handover in a low orbit constellation and high-low cooperative constellation link handover, so as to meet the requirement of stable operation of the high-low orbit links in the dynamic change process of the high-low orbit spatial relationship.
In particular, the low-orbit intra-constellation high-low link handover comprises: when one satellite and a high-orbit satellite in the low-orbit satellite group keep building a link, a plurality of backup link satellites are arranged at the same time, so that the link can be quickly rebuilt to restore the normal operation state when the current link satellite is separated from the high-orbit view field or the link is abnormal;
the high-low cooperative constellation link handover comprises the following steps: and redistributing the original corresponding low orbit constellation in the high orbit constellation.
In particular, the dynamic handoff of the master satellite within the low-orbit constellation comprises: exchanging the positions of a master star and a slave star inside the low orbit satellite group;
the dynamic handover of the slave satellites among the low orbit satellite groups comprises the following steps: and adjusting the slave in one low orbit constellation to another low orbit constellation and using the slave as the slave under the master of another low orbit constellation.
In particular, the inter-low orbit constellation target handoff comprises: and adjusting the low orbit star group executing the observation task from the current low orbit star group to another low orbit star group.
Particularly, after the high orbit star group receives a remote sensing observation task, the task is distributed to the star group where the star group center closest to the high orbit star group is located for management based on the three-dimensional coordinates of the task center in consideration of the linear distance between the task and the center of each star group; let the constellation center set as M and the distance between the target and the ith constellation center be dst i If the calculation result of a certain constellation center (set as constellation j) satisfies
The high earth orbit satellite sends the task to the constellation management.
Particularly, after the secondary stars of the low-orbit star group complete target observation, the observation result is fed back to the user, including directly feeding back the observation result to the user; or the observation result is fed back to the user through the high orbit satellite of the region to which the observation result belongs.
The invention also provides a high-low orbit multi-satellite cluster task cooperative architecture and a dynamic organization system, wherein the system comprises a high-orbit satellite group, a low-orbit satellite group and a ground control center;
the high orbit star group is used for receiving a remote sensing observation task and carrying out initial observation on the remote sensing observation task; the observation task is initially distributed to a low orbit satellite group according to the position of each satellite group and the idle state of each satellite group load, and the observation task is received by a main satellite of the low orbit satellite group;
the main satellite of the low orbit satellite group is used for secondarily distributing the task to the auxiliary satellites of the low orbit satellite group to complete the observation task according to the type of the observation task and the state of each satellite in the constellation;
the slave stars of the low-orbit star group are used for pointing the maneuvering related load to a region or an airspace where the maneuvering task is located, and performing observation and continuous tracking on the target; after the target observation is finished, feeding the observation result back to the user;
the ground control center is used for carrying out situation monitoring and intervention with all satellites in a constellation in real time in the observation task execution process, and the dynamic organization of the high-low orbit multi-satellite cluster task specifically comprises the following steps along with the change of the satellite orbit, the task attribute and the relative position: dynamic handover of high-low orbit cooperative links, dynamic handover of a master satellite in a low orbit constellation, dynamic handover of slave satellites between low orbit constellations and target handover between low orbit constellations.
Has the advantages that:
(1) The invention solves the problems of task collaborative planning and joint scheduling of space-based earth-ground and air observation resources, realizes comprehensive management and control and benefit maximization of multiple types of space-based observation resources, and solves the problems of task collaborative allocation and scheduling among multiple tasks and multiple loads in the space-based detection of the conventional satellite cluster;
(2) The invention has various dynamic handover modes, namely dynamic handover of high-low orbit cooperative links, dynamic handover of a master satellite in a low-orbit constellation, dynamic handover of slave satellites among low-orbit constellations and target handover among low-orbit constellations, and the satellite constellation is flexible and changeable in organization and full in resource utilization;
(3) After the high-orbit satellite receives the remote sensing observation task, the linear distance between the task and the center of each constellation is fully considered, and the task is distributed to the constellation where the closest constellation center is located for management based on the three-dimensional coordinate of the task center, so that the distribution is reasonable and the efficiency is high;
(4) After the slave stars of the low orbit star group complete target observation, the observation result is fed back to the user, including the observation result is directly fed back to the user; or the observation result is fed back to the user through the high orbit satellite of the region, so that the method is various and the flexibility is high.
(5) The ground control center is used for carrying out situation monitoring and intervention with all satellites in a constellation in real time in the observation task execution process, and the high-low orbit satellite can also carry out regional autonomy in a cluster autonomously, so that the control mode is flexible, and the resource utilization rate is high.
Drawings
FIG. 1 is a schematic diagram of a high-low constellation task collaboration framework proposed by the present invention;
FIG. 2 is a schematic diagram of a multi-satellite cluster task planning process proposed by the present invention;
FIG. 3 is a schematic diagram of an initial partition method of a constellation according to the present invention;
FIG. 4 is a diagram illustrating a dynamic handover of a high/low rail cooperative link according to the present invention;
FIG. 5 is a schematic diagram of dynamic handoff of a primary satellite in a constellation according to the present invention;
FIG. 6 is a schematic diagram of the dynamic handoff between satellites according to the present invention;
FIG. 7 is a schematic diagram of the inter-constellation dynamic handoff of targets in accordance with the present invention.
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
The invention discloses a high-low orbit multi-satellite cluster task collaborative dynamic organization system and a method, which construct a hierarchical constellation dynamic networking interactive architecture and a collaborative method, solve the problems of task collaborative planning and joint scheduling of space-based earth-ground and air observation resources, and realize comprehensive management and control of multiple types of space-based observation resources and maximization of benefit. The method aims to solve the problems of task cooperative allocation and scheduling among multiple tasks and multiple loads in space-based detection of the conventional satellite cluster.
1. The high and low constellation task coordination framework adopted by the invention is shown in figure 1. The node resource types related in the invention comprise a high orbit satellite group, a low orbit satellite group and a ground control center, wherein in the task execution, the low orbit satellite is divided into a task master satellite (a planning satellite) and a task slave satellite (an execution satellite). The definition and function of each satellite is as follows:
(1) High orbit constellation
The high-low orbit cluster comprises more than one high-orbit satellite. And completing initial task discovery and primary task distribution by the high orbit star group. The invention relates to a high-orbit satellite, which is a satellite with the flying height more than or equal to 20000 kilometers away from a sub-satellite point.
a) And (5) observing the task once. Compared with a low-orbit satellite, the high-orbit satellite has high orbit and large field range, and the wide-area situation is mastered; and the position change of the high orbit satellite relative to the ground is smaller, and the observable jurisdiction area is fixed. For the tasks which randomly appear in the high orbit satellite control area, the high orbit satellite completes the initial observation, and for the stereo positioning task, at least two high orbit satellites complete the stereo observation.
b) And allocating the tasks once. The high orbit satellite initially distributes to a certain low orbit constellation while the high orbit satellite carries out wide-area and global remote sensing observation on the target. In principle, the high orbiting satellites initially assign the mission to the selection of the best performing low orbiting constellation.
(2) Low orbit constellation
In the constellation related by the invention, one high-orbit satellite control area comprises not less than two low-orbit satellites (for a stereo positioning task, not less than two low-orbit satellites). And finishing the task fine planning and the task fine execution. According to the actual task management needs of the constellation, the low-orbit satellite can be divided into two roles of a low-orbit master satellite (planning satellite) and a low-orbit slave satellite (executing satellite), and the task fine planning and the task fine execution are respectively completed. Wherein the task master star can also be used as a slave star to execute the task at the same time. The invention relates to a high-orbit satellite, which is a satellite with the flying height less than or equal to 5000 kilometers away from an off-satellite point.
a) And (5) performing secondary distribution on tasks. After the primary satellite (planning satellite) receives the primary distribution task of the high orbit satellite, the fine planning is completed according to the resource state in the satellite group, the task is divided into executable tasks of all executing satellites, and the executable tasks are distributed to corresponding executing satellites. The main satellites of different low orbit satellite groups can also finish task planning, distribution and task execution together through negotiation.
b) And (5) performing secondary observation on the task. And after the slave star receives the master star distribution task, the observation task is completed, and the observation information is fed back to the master star. And the master satellite integrates observation information of all the slave satellites to complete task situation integration.
(3) Ground control center
The ground control center can monitor the situation of all satellites in the constellation in real time and has global (high orbit and low orbit) situation control capability. And the specific remote sensing task to be executed can be generated according to the actual application requirement and uploaded to a constellation for execution.
When a new task is generated on the ground, the ground can allocate a task area according to the grasped initial task information, and the task is injected to a specific high orbit satellite for initial observation and distribution; when the low-orbit constellation is distributed, the ground center can distribute the constellation distribution condition of the low-orbit task according to the overall accurate situation; when the low-orbit execution star organization is carried out, the ground center can supervise and allocate the task allocation condition of the execution main star by depending on the ground computing power.
According to the above explanation, the invention further provides a high-low orbit multi-satellite cluster task collaborative framework and a dynamic organization method, which are mainly divided into five steps of task preliminary execution, task initial planning, task fine execution and task feedback, wherein the ground center can perform real-time supervision and intervention on the four steps, and the flow is shown in fig. 2.
Step 1, one-time observation of task
Receiving a remote sensing observation task by a high orbit star group, and carrying out initial observation on the remote sensing observation task; the remote sensing observation task is generated randomly in a region governed by a high orbit satellite or generated in advance by a ground system according to actual application requirements. After the task is generated, the high earth orbit satellite cooperatively completes the initial observation of the task according to the position area of the task. Specifically, the task in the remote sensing high-low orbit constellation is generated by ground injection or randomly triggered by an external event. After the external task occurs, the ground is used for generating an earth observation task and an air observation task according to a plan, or a random observation task (such as forest fire alarm) captured by a high rail is used for observing the ground. After the collected task information is gathered by the high orbit/ground, the task information is transmitted to the high orbit satellite governed by the area of the task in a certain period for the first task decomposition and scheduling of the high orbit satellite. This process is essentially a process of assigning tasks to regions.
Step 2: assignment of tasks at one time, i.e. initial assignment of tasks to high-orbit satellites
The high orbit satellite group initially distributes the observation task to a low orbit satellite group at least according to the position of each satellite group and the idle state of each satellite group load, and a main satellite of the low orbit satellite group receives the observation task; generation of new high earth orbit satellite or terrestrial systemsAfter the high orbit satellite management is administered in the area where the task is located, the high orbit satellite carries out one-time (initial) allocation on the high orbit satellite to a specific low orbit satellite group. When a mission is once (initially) assigned to a particular constellation by an elevated satellite, factors considered include, but are not limited to, the location of the mission relative to each constellation, the idle state of each constellation load, etc. When a task is (initially) assigned to a particular constellation by an elevated earth satellite, the task will be received by the constellation's primary star. Specifically, after receiving a new observation task, the high orbit star group takes into account the linear distance between the task and each star group center (when the number of the star group centers is greater than 1), and assigns the task to the star group where the star group center closest to the task center is located based on the three-dimensional coordinates of the task center to manage. Let the constellation center set as M and the distance between the target and the ith constellation center be dst i If the calculation result of the constellation center 1 is satisfied
The high orbit satellite sends the task to the management of the constellation 1, and the main satellite in the constellation 1 is responsible for receiving the task and carrying out the next operation on the task.
And step 3: task secondary distribution, namely low-orbit primary satellite refined task distribution
The main satellite of the low orbit satellite group distributes the task to the secondary satellite of the low orbit satellite group for the second time to complete the observation task according to the type of the observation task and the state of each satellite in the constellation; after the low orbit master satellite receives the task primarily distributed by the high orbit satellite, the low orbit master satellite distributes the task to a specific execution satellite for secondary (fine) distribution according to the type of the task and the state of each satellite in the constellation to complete the task. After the low-orbit master satellite distributes the target to the satellite group of the high-orbit satellite, the low-orbit master satellite carries out specific observation task distribution and observation time period planning according to the observation resources of the slave satellites in the low-orbit satellite group under jurisdiction, and autonomously distributes the target to each low-orbit slave satellite in the region.
When the low-orbit master satellite carries out task planning and scheduling, preferentially distributing tasks with high priority to low-orbit slave satellites in a constellation according to satellite remote sensing resources and a task set; and through reasonable task execution sequencing, a larger global task execution benefit is obtained.
And 4, step 4: and the low-orbit slave star task executes task secondary observation, and after receiving the specific task secondarily (finely) distributed by the low-orbit master star, the low-orbit slave star directs the maneuvering related load to a region or an airspace where the task is located, so as to execute observation and continuous tracking on the target.
And the low-orbit master satellite finishes task planning and scheduling, allocates the tasks to the low-orbit slave satellites, starts remote sensing detection on the target corresponding to the low-orbit slave satellites and generates an observation result. The observation result is fed back to the low-orbit main satellite and the ground, and the low-orbit main satellite needs to determine the scheme of the next round of planning according to the completion condition of the task of executing the planet. If the satellite does not complete the remote sensing detection of the set task in the expected time period, the remote sensing detection is fed back to the high orbit satellite of the region to which the satellite belongs, and the execution result of the satellite is taken as a new event input to carry out a new round of scheduling process.
And 5: and (4) task feedback, namely after the low-orbit satellite finishes target observation, sending task information to a user or forwarding the task information to the user through the high-orbit satellite.
In addition, the low orbit star group is divided based on the region fixing principle. I.e. satellites whose positions belong to a common three-dimensional space are divided into a same constellation. In a specific implementation, the constellation division may be spread out centered on an elevated satellite in GEO orbit (geosynchronous orbit). For example, the entire high-low orbit constellation may be divided into 4-8 constellation groups centered around the 4-8 GEO satellites. 4-8 high orbit satellites selected as the center of the constellation are generally uniformly distributed on the GEO orbit; non-uniform distribution can be selected according to the density of the tasks to be executed; the specific setting is uniformly determined by the ground at the initial moment.
For constellations with randomly distributed initial positions or newly added satellites, the ground determines initial constellation attribution of the satellites according to the distance between the satellites and the center of each constellation (namely, a specific GEO satellite) based on the initial orbit information of each satellite, and divides the satellites into the constellation management of GEO satellites with the closest distance, as shown in fig. 3.
The division of the constellation within the high-low orbit constellation is not fixed. The number of constellation and GEO satellite selected as the center of the constellation is fixed during a particular implementation, but the orbital position of non-GEO satellites will change over time. Thus, the number of low orbit satellites and the IDs contained within each constellation will change dynamically over time. Meanwhile, the position of each low earth satellite relative to the center of each constellation (GEO satellite) also changes with time, so the constellation affiliation of each low earth satellite will dynamically switch among each constellation with time.
In the observation task execution process, the ground control center monitors and intervenes with all satellites in a constellation in real time, and along with the change of the satellite orbit, the task attribute and the relative position, the dynamic organization of the high-low orbit multi-satellite cluster task specifically comprises the following steps: dynamic handover of high-low orbit cooperative links, dynamic handover of a master satellite in a low orbit constellation, dynamic handover of slave satellites between low orbit constellations and target handover between low orbit constellations.
The dynamic handover method of the high-low orbit task collaborative architecture provided by the present invention is shown in fig. 4 to fig. 7, and includes dynamic handover of high-low orbit collaborative links, dynamic handover of a master satellite in a low orbit constellation, dynamic handover of a slave satellite between low orbit constellations, and target handover between low orbit constellations. The high-low link, the low-orbit star group division and the master-slave star role distribution in the star group are dynamic and dynamically change along with the change of the satellite orbit, the task attribute and the relative position. Along with the track change of the task propulsion and the execution star (slave star), the task is dynamically handed over between the execution stars of the low-orbit star cluster, and the dynamic organization of the roles of the master star and the slave star and the dynamic management of the multi-type task are achieved.
(1) And dynamically switching the high-low rail and the link.
The dynamic handover of the high-low orbit cooperative links is shown in fig. 4, and includes two handover modes, i.e., high-low link handover in a low orbit constellation and high-low cooperative constellation link handover, so as to meet the requirement of stable operation of the high-low orbit links in the dynamic change process of the high-low orbit spatial relationship.
And maintaining high and low links in the low-orbit constellation. One satellite in the low-orbit satellite group and the high-orbit satellite keep building a link, and a plurality of backup link satellites are arranged at the same time, so that the link can be quickly rebuilt to restore the normal operation state when the current link building satellite is separated from the high-orbit view field or the link is abnormal.
And high-low cooperative star group link handover. When the states of satellite handover, constellation redistribution and the like among low-orbit satellite clusters are switched, the method has the capability of quickly reestablishing the high-low link, and ensures the normal operation of the high-low link.
(2) And dynamically switching the main satellites in the low-orbit constellation.
The dynamic handoff of the primary within the low orbit constellation is shown in fig. 5. And a main satellite handover function in the constellation is used for dynamically selecting the dominant resource to carry out task planning and execution in the process of high-speed change of the relative spatial relationship between the task target and the satellite. And the resource allocation in the constellation can be dynamically balanced, and the overall operation efficiency is improved.
At the initial moment, the low-orbit satellite 1 works in a low-orbit master satellite state, and the satellites 2 and 3 work in a low-orbit slave satellite state. After the switching is finished, the low-orbit satellite 2 works in a low-orbit master satellite state, and the satellites 1 and 3 work in a low-orbit slave satellite state.
(3) And dynamically switching the slave satellites among the low-orbit satellite groups.
Dynamic handoff of slave stars between low orbit constellation is shown in figure 6. The dynamic satellite handover function can meet the requirement of dynamically adjusting the constellation framework according to the execution requirement of a target task or the relation with a high-rail link, and the overall operation efficiency and the high-low rail cooperation efficiency of the low-rail constellation are improved.
The low-orbit slave star 4 belongs to the low-orbit star group 1 at the initial moment and is managed by the low-orbit master star 1. After the handover, the low-orbit slave star 4 belongs to the low-orbit star group 2 and is managed by the low-orbit master star 2.
(4) Low-orbit inter-constellation target handoff
The target handoff between low orbit constellations is shown in fig. 7. And the target handover function is used for dynamically selecting the dominant constellation to complete task handover in the process of realizing the high-speed change of the relative spatial relationship between the task target and the satellite, performing task planning and execution, and ensuring the continuity and stability of task execution on the basis of keeping the stability of the constellation architecture. And the task allocation among the star groups can be dynamically balanced, and the overall operation efficiency is improved.
The initial time target 1 belongs to the low orbit satellite group 1 and is cooperatively executed by the satellite 1, the satellite 3 and the satellite 4. After the target handover, the target 1 belongs to the low orbit constellation 2, and the satellite 5, the satellite 6 and the satellite 7 are cooperatively executed.
The invention also provides a high-low orbit multi-satellite cluster task cooperative architecture and a dynamic organization system, wherein the system comprises a high-orbit satellite group, a low-orbit satellite group and a ground control center;
the high orbit star group is used for receiving a remote sensing observation task and carrying out initial observation on the remote sensing observation task; the observation task is initially distributed to a low orbit satellite group according to the position of each satellite group and the idle state of each satellite group load, and the observation task is received by a main satellite of the low orbit satellite group;
the main satellite of the low orbit satellite group is used for secondarily distributing the task to the auxiliary satellites of the low orbit satellite group to complete the observation task according to the type of the observation task and the state of each satellite in the constellation;
the slave stars of the low-orbit star group are used for pointing the maneuvering related load to a region or an airspace where the maneuvering task is located, and performing observation and continuous tracking on the target; after the target observation is finished, the observation result is fed back to the user;
the ground control center is used for carrying out situation monitoring and interference with all satellites in a constellation in real time in the observation task execution process, and the dynamic organization of the high-low orbit multi-satellite cluster task specifically comprises the following steps along with the change of the satellite orbit, the task attribute and the relative position: dynamic handover of high-low orbit cooperative links, dynamic handover of a master satellite in a low orbit constellation, dynamic handover of a slave satellite between low orbit constellations and target handover between low orbit constellations.
The system is similar to the scheme in the previous embodiment of the method, and thus is not described in detail.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
It will be evident to those skilled in the art that the embodiments of the present invention are not limited to the details of the foregoing illustrative embodiments, and that the embodiments of the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the embodiments being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned. Furthermore, it is obvious that the word "comprising" does not exclude other elements or steps, and the singular does not exclude the plural. Several units, modules or means recited in the system, apparatus or terminal claims may also be implemented by one and the same unit, module or means in software or hardware. The terms first, second, etc. are used to denote names, but not any particular order.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the embodiments of the present invention and not for limiting, and although the embodiments of the present invention are described in detail with reference to the above preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions can be made on the technical solutions of the embodiments of the present invention without departing from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (9)
1. A high-low orbit multi-satellite cluster task cooperative architecture and a dynamic organization method are characterized by comprising the following steps:
receiving a remote sensing observation task by a high-orbit star group, and carrying out initial observation on the remote sensing observation task;
the high orbit satellite group initially distributes the observation task to a low orbit satellite group at least according to the position of each satellite group and the idle state of each satellite group load, and a main satellite of the low orbit satellite group receives the observation task;
the main satellite of the low orbit satellite group distributes the task to the secondary satellite of the low orbit satellite group for the second time to complete the observation task according to the type of the observation task and the state of each satellite in the constellation;
the slave stars of the low-orbit star group transfer the related load to the region or airspace where the mobile observation task is located, and the observation and continuous tracking of the target are executed;
after the slave stars of the low orbit star group complete target observation, the observation result is fed back to the user;
in the observation task execution process, the ground control center monitors and intervenes with all satellites in a constellation in real time, and along with the change of the satellite orbit, the task attribute and the relative position, the dynamic organization of the high-low orbit multi-satellite cluster task specifically comprises the following steps: dynamic handover of high-low orbit cooperative links, dynamic handover of a master satellite in a low orbit constellation, dynamic handover of a slave satellite between low orbit constellations and target handover between low orbit constellations.
2. The high-low orbit multi-satellite cluster task collaborative architecture and dynamic organization method according to claim 1, wherein the remote sensing observation task is a random observation task captured by a high orbit satellite or a remote sensing observation task generated by a ground system according to a plan and is injected to the area where the task belongs to govern the high orbit satellite.
3. The high-low orbit multi-satellite cluster task cooperative architecture and dynamic organization method according to claim 1, wherein the dynamic handover of the high-low orbit cooperative link includes two handover modes, namely high-low link handover in the low orbit satellite cluster and high-low cooperative satellite cluster link handover, so as to meet the requirement of stable operation of the high-low orbit link in the dynamic change process of the high-low orbit spatial relationship.
4. The high-low orbit multi-star cluster task collaborative architecture and dynamic organization method according to claim 3,
the low-orbit intra-constellation high-low link handover comprises the following steps: when one satellite and a high-orbit satellite in the low-orbit satellite group keep building a link, a plurality of backup link satellites are arranged at the same time, so that the link can be quickly rebuilt to restore the normal operation state when the current link satellite is separated from the high-orbit view field or the link is abnormal;
the high-low cooperative constellation link handover comprises the following steps: and redistributing the original corresponding low orbit constellation in the high orbit constellation.
5. The high-low orbit multi-satellite cluster task collaborative architecture and dynamic organization method according to claim 1, wherein the dynamic handoff of the master satellite within the low orbit satellite cluster comprises: exchanging the positions of a master star and a slave star inside the low orbit star group;
the dynamic handover of the slave satellites among the low orbit satellite groups comprises the following steps: and adjusting the slave in one low orbit constellation to another low orbit constellation and using the slave as the slave under the master of another low orbit constellation.
6. The high-low orbit multi-satellite cluster task collaborative architecture and dynamic organization method according to claim 1, wherein the low orbit inter-satellite cluster target handover comprises: and adjusting the low orbit constellation executing the observation task from the current low orbit constellation to another low orbit constellation.
7. The high-low orbit multi-satellite cluster task collaborative architecture and dynamic organization method according to claim 1, characterized in that after receiving a remote sensing observation task, the high orbit satellite cluster takes into account a linear distance between the task and each satellite cluster center, and based on a three-dimensional coordinate of the task center, allocates the task to a satellite cluster where a closest satellite cluster center is located for management; let the constellation center set as M and the distance between the target and the ith constellation center be dst i If the calculation result of a certain constellation center (set as constellation center j) satisfies
The high orbit satellite sends the mission to the constellation management.
8. The high-low orbit multi-satellite cluster task cooperative architecture and dynamic organization method according to any one of claims 1 to 7, characterized in that after the slave satellites of the low orbit satellite cluster complete target observation, feeding observation results back to the user comprises directly feeding observation results back to the user; or the observation result is fed back to the user through the high orbit satellite of the region to which the observation result belongs.
9. A high-low orbit multi-satellite cluster task cooperative architecture and dynamic organization system is characterized by comprising a high-orbit satellite cluster, a low-orbit satellite cluster and a ground control center;
the high orbit star group is used for receiving a remote sensing observation task and carrying out initial observation on the remote sensing observation task; initially distributing the observation task to a low orbit satellite group according to at least the position of each satellite group and the idle state of each satellite group load, and receiving the observation task by a main satellite of the low orbit satellite group;
the main satellite of the low orbit satellite group is used for secondarily distributing the task to the auxiliary satellites of the low orbit satellite group to complete the observation task according to the type of the observation task and the state of each satellite in the constellation;
the slave stars of the low-orbit star group are used for pointing the maneuvering related load to a region or an airspace where the maneuvering task is located, and performing observation and continuous tracking on the target; after the target observation is finished, the observation result is fed back to the user;
the ground control center is used for carrying out situation monitoring and intervention with all satellites in a constellation in real time in the observation task execution process, and the dynamic organization of the high-low orbit multi-satellite cluster task specifically comprises the following steps along with the change of the satellite orbit, the task attribute and the relative position: dynamic handover of high-low orbit cooperative links, dynamic handover of a master satellite in a low orbit constellation, dynamic handover of slave satellites between low orbit constellations and target handover between low orbit constellations.
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| CN116430736A (en) * | 2023-06-09 | 2023-07-14 | 中国西安卫星测控中心 | Multi-agent autonomous cooperative allocation method for aerospace measurement and control |
| CN116562466A (en) * | 2023-07-07 | 2023-08-08 | 中国人民解放军战略支援部队航天工程大学 | Planning method for high orbit satellite observation task |
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| CN116430736A (en) * | 2023-06-09 | 2023-07-14 | 中国西安卫星测控中心 | Multi-agent autonomous cooperative allocation method for aerospace measurement and control |
| CN116430736B (en) * | 2023-06-09 | 2023-09-05 | 中国西安卫星测控中心 | Multi-agent autonomous cooperative allocation method for aerospace measurement and control |
| CN116562466A (en) * | 2023-07-07 | 2023-08-08 | 中国人民解放军战略支援部队航天工程大学 | Planning method for high orbit satellite observation task |
| CN116562466B (en) * | 2023-07-07 | 2024-02-23 | 中国人民解放军战略支援部队航天工程大学 | Planning method for high orbit satellite observation task |
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