CN116101514B

CN116101514B - Multi-star on-orbit autonomous cooperative system and autonomous task planning method thereof

Info

Publication number: CN116101514B
Application number: CN202310389804.4A
Authority: CN
Inventors: 张凯; 胡玉新; 杨林鹏; 王振舟; 林智莘
Original assignee: Aerospace Information Research Institute of CAS
Current assignee: Aerospace Information Research Institute of CAS
Priority date: 2023-04-13
Filing date: 2023-04-13
Publication date: 2023-06-30
Anticipated expiration: 2043-04-13
Also published as: CN116101514A

Abstract

The invention provides a multi-star on-orbit autonomous cooperative system and an autonomous task planning method thereof, which are applied to the technical field of remote sensing satellite task planning, wherein the multi-star on-orbit autonomous cooperative system comprises a master star and at least one slave star, and the method comprises the following steps: the method comprises the steps that a master star receives an observation requirement forwarded by any slave star in an on-orbit autonomous cooperative defense system directly sent by a ground user terminal or multiple stars, and all states of the slave stars, the master star determines a slave star to be invited according to the observation requirement and the states of all the slave stars, the slave star to be invited sends bidding information about the observation requirement to the master star, and the master star determines a slave star for executing an observation task from all the slave stars to be invited based on the bidding information of all the slave stars to be invited. The transmission of satellite control information is changed from an instruction level to a task level, so that the networked star group can plan satellite tasks according to dynamic environments and real-time interaction requirements of users, and the autonomy of multi-star coordination is enhanced.

Description

Multi-star on-orbit autonomous cooperative system and autonomous task planning method thereof

Technical Field

The invention relates to the technical field of remote sensing satellite mission planning, in particular to a multi-satellite on-orbit autonomous cooperative system and an autonomous mission planning method thereof.

Background

The traditional remote sensing satellite task planning is completed by a ground operation control system, and after the operation control system receives the user demands, the task planning is completed according to the satellite states and the current task conditions, and load working instructions are generated and then are uploaded to the satellite to execute observation tasks. The whole control flow is long, the timeliness is poor, and the satellite application efficiency is low. With the explosive growth of the number of satellites, traditional ground measurement and operation control increasingly becomes a bottleneck for playing the role of satellites. The satellite autonomous mission planning can realize that the satellite directly receives the user demand in orbit and generates an observation mission according to the real-time state of the satellite, and has the advantages of no dependence on the ground, high timeliness and the like. The existing on-board autonomous task planning method is mainly aimed at single-star, multi-star collaborative autonomous task planning research is relatively few.

Disclosure of Invention

The invention mainly aims to provide a multi-star on-orbit autonomous cooperative system and an autonomous task planning method thereof, wherein the dynamic centralized planning method is adopted to realize task-oriented centralized planning based on inter-satellite resource state synchronization and main star election, and the preemptive mark-supporting decision-making method is adopted to realize multi-star cooperative autonomous task planning.

To achieve the above object, a first aspect of an embodiment of the present invention provides a multi-star on-orbit autonomous cooperative system including a master star and at least one slave star, the method including:

the main star receives the observation requirement forwarded by any slave star in the on-orbit autonomous cooperative system directly sent by the ground user terminal or the states of all the slave stars;

the master star determines a slave star to be invited to a target according to the observation requirements and the states of all the slave stars;

the secondary star to be invited sends bidding information about the observation requirement to the primary star;

the master star determines slave stars for executing observation tasks from all the slave stars to be invited based on the bidding information of all the slave stars to be invited.

Optionally, before the master satellite receives the observation requirement forwarded by any slave satellite in the multi-satellite cooperative satellite system, the method further includes:

each satellite in the multi-satellite in-orbit autonomous cooperative system calculates according to the collected satellite resource states of all satellites in the multi-satellite in-orbit autonomous cooperative system to obtain a calculation result;

according to the calculation result and the preset weight of each satellite, sequencing all satellites in the multi-satellite in-orbit autonomous cooperative system to obtain an election result, wherein the election result indicates to elect the satellites serving as the main satellites;

each satellite in the multi-satellite in-orbit autonomous cooperative system receives the election result of the broadcast of the adjacent satellite;

updating all satellites in the multi-satellite in-orbit autonomous cooperative system under the condition that the election result is inconsistent with the calculation result of the satellites, and re-executing all satellites in the multi-satellite in-orbit autonomous cooperative system to calculate according to the collected satellite resource states of all satellites in the multi-satellite in-orbit autonomous cooperative system under the condition that the number of all satellites in the multi-satellite in-orbit autonomous cooperative system is increased, so as to obtain a calculation result;

and under the condition that the election result is consistent with the calculation result of each satellite in the multi-satellite in-orbit autonomous cooperative system, determining the main satellite according to the election result.

Optionally, the master star determining the slave star to be invited according to the observation requirement and the states of all the slave stars includes:

the main star determines a bid-inviting range according to the preference of the sensor in the observation requirement;

the master star forwards the observation requirement to the slave star in the bidding range;

the slave star in the bidding range responds to the observation requirement and determines whether to bid according to the attitude and orbit state and the load task information of the slave star;

the secondary star determining the bid is determined as the secondary star of the to-be-invited bid.

Optionally, the method further comprises:

the slave star in the bidding range completes the planning of the observation task according to the observation requirement based on the current state of the slave star;

the slave star judges whether the observation task is an emergency task or not;

executing the emergency task by the slave star under the condition that whether the observation task is the emergency task or not;

after performing the emergency task, the secondary star transmits bidding information regarding the observed demand to the primary star.

Optionally, the determining whether the bidding is performed according to the attitude and orbit state and the load task information of the slave star in the bidding range in response to the observation requirement includes:

extrapolating the secondary satellites in the bidding range according to the current ephemeris, and generating corresponding task information according to the relative position relationship between the satellites and the sun, the earth and the region of interest at the future moment;

the slave star performs task planning according to the self attitude and orbit state and load task information based on the task information, wherein the task planning comprises orbit extrapolation, visible window calculation, constraint inspection and conflict resolution;

and after the visible window calculation, constraint checking and conflict resolution, checking that a task window is available, determining the bid from the star.

Optionally, the determining, by the master star, the slave star performing the observation task from among all the slave stars to be invited targets based on the bidding information of all the slave stars to be invited targets includes:

the master star analyzes the bidding information of the slave star to be invited to mark and judges whether the slave star preempts to execute the observation task;

if the slave star preempts to execute the observation task, the master star sends a winning notice to the slave star, and sends winning results to other slave stars except the slave star in the multi-star on-orbit autonomous cooperative system, wherein the winning results indicate winning slave stars;

if the observation task is not preempted by the slave stars, calculating task scores of all the slave stars to be invited targets according to a preset scoring rule by the master stars, and determining the slave stars for executing the observation task from all the slave stars to be invited targets according to the task scores.

Optionally, the task score is f, and the scoring rule is:

f=a+b-c；

wherein a is the observation income of the slave star of the object to be invited, b is the observation time delay of the slave star of the object to be invited, and c is the observation energy consumption of the slave star of the object to be invited.

The second aspect of the embodiment of the invention provides a multi-star on-orbit autonomous cooperative system, which comprises a master star and at least one slave star;

the master star is used for receiving the observation requirements forwarded by any slave star in the on-orbit autonomous cooperative system directly sent by the ground user terminal or the multiple stars, and determining the slave star to be invited to the target according to the observation requirements and the states of all the slave stars;

the secondary star to be invited is used for sending bidding information about the observation requirements to the primary star;

the master star is further used for determining the slave star which executes the observation task from all the slave stars to be invited targets based on the bidding information of all the slave stars to be invited targets.

According to the multi-star on-orbit autonomous cooperative system and the autonomous task planning method thereof provided by the embodiment of the invention, the dynamic centralized planning method is adopted, the task-oriented centralized planning is realized based on the inter-star resource state synchronization and the main star election, and the multi-star cooperative autonomous task planning is realized by adopting the preemptive label-inviting decision-making supporting method. The novel remote sensing satellite constellation autonomous decision making, autonomous communication coordination and autonomous cooperative task planning capability is given by establishing a multi-satellite cooperative autonomous task planning mechanism, and the information transmission of satellite control is changed from an instruction level to a task level, so that a networked star group can plan satellite tasks according to a dynamic environment and real-time interaction requirements of users, and the autonomy of multi-satellite cooperation is enhanced.

Drawings

In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are necessary for the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention and that other drawings may be obtained from them without inventive effort for a person skilled in the art.

FIG. 1 is a flow chart of an autonomous task planning method for a multi-star on-orbit autonomous cooperative system according to an embodiment of the present invention;

fig. 2 to fig. 5 are schematic diagrams illustrating a satellite resource synchronization process of a multi-satellite in-orbit autonomous cooperative system according to an embodiment of the present invention;

FIG. 6 is a schematic diagram of a satellite resource broadcast packet processing flow of a multi-satellite in-orbit autonomous cooperative system according to an embodiment of the present invention;

fig. 7 is a schematic diagram of autonomous mission planning of a multi-star on-orbit autonomous cooperative system according to an embodiment of the present invention.

Detailed Description

In order to make the objects, features and advantages of the present invention more comprehensible, the technical solutions in the embodiments of the present invention will be clearly described in conjunction with the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Fig. 1 is a flow chart of an autonomous task planning method of a multi-star on-orbit autonomous cooperative system according to an embodiment of the present invention, where the multi-star on-orbit autonomous cooperative system includes a master star and at least one slave star.

As shown in fig. 1, the method mainly includes the following steps S101 to S104.

S101, the master star receives the observation requirement forwarded by any slave star in the on-orbit autonomous cooperative system directly sent by the ground user terminal or the states of all the slave stars.

S102, the master star determines the slave star to be invited according to the observation requirement and the states of all the slave stars.

S103, the to-be-invited target slave star transmits bidding information about the observation requirement to the master star.

S104, the master star determines the slave star executing the observation task from all the slave stars to be invited based on the bidding information of all the slave stars to be invited.

In an embodiment of the present invention, before the master satellite receives the observation requirement forwarded by any slave satellite in the multi-satellite cooperative satellite system in step S101, the method shown in fig. 1 further includes the following steps S201 to S205.

S201, each satellite in the multi-satellite in-orbit autonomous cooperative system calculates according to the collected satellite resource states of all satellites in the multi-satellite in-orbit autonomous cooperative system, and a calculation result is obtained.

S202, sorting all satellites in the multi-satellite in-orbit autonomous cooperative system according to the calculation result and the preset weight of each satellite to obtain an election result, wherein the election result indicates to elect the satellite serving as the main satellite.

S203, each satellite in the multi-satellite in-orbit autonomous cooperative system receives the election result of the broadcast of the adjacent satellite.

S204, updating all satellites in the multi-satellite in-orbit autonomous cooperative system under the condition that the election result is inconsistent with the calculation result of the satellite, and re-executing step 201 under the condition that the number of all satellites in the multi-satellite in-orbit autonomous cooperative system is increased.

S205, determining the main satellite according to the election result when each satellite in the multi-satellite in-orbit autonomous cooperative system is consistent with the calculation result of the satellite.

In an embodiment of the present invention, step S102 the master star determines the slave star to be invited according to the observation requirement and the states of all the slave stars, which includes the following steps S301-S304.

S301, the main star determines a bid-inviting range according to the preference of the sensor in the observation requirement.

S302, the master star forwards the observation requirement to the slave star in the bidding range.

S303, the slave star in the bidding range responds to the observation requirement and determines whether to bid according to the attitude and orbit state and the load task information of the slave star.

S304, determining the secondary star for determining bidding as the secondary star for the to-be-invited bidding.

In an embodiment of the present invention, the method shown in fig. 1 further includes the following steps S401 to S404.

S401, completing planning of an observation task according to the observation requirement by the slave star in the bidding range based on the current state of the slave star.

S402, the slave star judges whether the observation task is an emergency task or not.

S403, the slave star executes the emergency task if the observation task is the emergency task.

S404, after the emergency task is executed, the slave star transmits bidding information about the observation requirement to the master star.

In an embodiment of the present invention, the determining whether to bid according to the attitude and orbit state and the load task information of the slave star within the bidding range in response to the observation requirement in S303 includes: extrapolating from the satellite in the bidding range according to the current ephemeris, and generating corresponding task information according to the relative position relationship between the satellite and the sun, the earth and the region of interest at the future moment; the slave star performs task planning according to the self attitude and orbit state and load task information based on the task information, wherein the task planning comprises orbit extrapolation, visible window calculation, constraint checking and conflict resolution; if an available task window is checked in the visible window calculation, the bid is determined from the star.

In an embodiment of the present invention, the step S104 of the master star determining, from among all the slaves to be invited, the slaves performing the observation task based on the bidding information of all the slaves to be invited includes: the master star analyzes the bidding information of the slave star to be invited to mark and judges whether the slave star preempts to execute the observation task; if the slave star preempts to execute the observation task, the master star sends a winning notice to the slave star, and a winning result is sent to other slave stars except the slave star in the multi-star on-orbit autonomous cooperative system, wherein the winning result indicates the winning slave star; if the observation task is not preempted by the slave stars, the master stars calculate the task scores of all the slave stars to be invited targets according to a preset scoring rule, and the slave stars for executing the observation task are determined from all the slave stars to be invited targets according to the task scores.

In one embodiment of the present invention, the task score is f, and the scoring rule: f=a+b-c, wherein a is the observation gain of the slave star of the object to be invited, b is the observation time delay of the slave star of the object to be invited, and c is the observation energy consumption of the slave star of the object to be invited.

The observation benefits are defined as the priority of demands, the observation time delay sorts the observation windows according to the observation starting time, and the earlier the time is, the higher the score is. The observed energy consumption is defined as the radian value of the satellite roll and pitch angles.

Fig. 2 to fig. 5 are schematic diagrams illustrating a satellite resource synchronization process of a multi-satellite in-orbit autonomous cooperative system according to an embodiment of the present invention.

Under the support of inter-satellite communication links, satellites broadcast own attitude and orbit and data products in a constellation of a multi-satellite cooperative satellite system, and after receiving broadcast information, each satellite completes synchronization of resource states, so that a user can conveniently acquire constellation resource information when accessing, and meanwhile, support is provided for multi-satellite cooperative task planning.

In an autonomous mission planning method of a multi-satellite on-orbit autonomous cooperative system, resources issued by satellite broadcasting comprise: satellite state information, payload resource information. Satellite state information includes orbit, attitude, available computation, storage, energy, etc. of the present satellite. The load resource information comprises information such as load type, load working state and the like. The resource information issued by the satellite contains the resource effective period, and the resource information issued by the satellite is invalid after overtime.

It can be appreciated that the satellite and payload resource data are small in volume and suitable for being distributed outwards in a regular broadcast manner.

The JSON format resources for satellite resources and sensor resources are described as follows:

{ "satellite resource information":

{ "release time": "2022-7-14 15:00:00",

"aging": 30min "

"satellite information":

{ "satellite ID": "XX-1",

"track number": "2022-07-14,14:58:00.000,7010956,

0.00413164123892784,97.9546995162964,288.161675453186，

88.8978414535522,151.780542373657”，

"storage remaining capacity": "50GB",

"remaining power": "70%" of "

},

"payload resource information":

{ "payload type": "SAR",

"load task status":

{ "task number": "n",

"task":

[ "observing site coordinates":

{ "longitude": "x",

"latitude": "y"

},

"on time": "xxx",

"off time": "xxx",

]

...

}

in the data format described above, the track root includes epoch time, semimajor axis, eccentricity, track tilt angle, ascending intersection right ascent, near-place argument angle, and plano-near point angle.

The resource broadcast packet structure is shown in table 1 below.

TABLE 1

Sequence number	Name of the name	Description of the invention
			1	packetType	Packet type
2	packetID	The broadcast packet ID generated by server node
			3	serverID	Node ID for generating the resource broadcast packet
4	senderID	Node ID of last hop of the packet
			5	birthTime	Time of generation of the package
6	lifeTime	Effective lifetime of the package
			7	remainHop	Remaining hop count of the broadcast packet
8	reserved	Reserved field
			9	resourceInfo	Serialized representation of satellite resource descriptions

The star resource release adopts a single-hop mode to broadcast the star resource information to adjacent nodes, and the resource information broadcast is triggered by a local resource information change event or a service request message. And compared with the last broadcast, the resource information broadcast only transmits the increment information each time, thereby inhibiting repeated delivery of service information, avoiding waste of network bandwidth and accelerating the discovery speed of resources. And each satellite simultaneously forwards other satellite resource information received by the satellite to adjacent nodes, and when the routing topology of the satellite network changes, all the resource information is sent to the newly added node.

As shown in fig. 2 to 5, at an initial time, each satellite generates resource information to be issued by the satellite, and after the resource information is issued once by the a-star and the B-star, the resource information of the other party is obtained. After the A star and the C star perform one-time information interaction, the A star and the C star both acquire resource information of 3 stars in the whole network. After finishing the information interaction again, the A star and the B star, the A star obtains the resource information of the whole network. So far, each satellite acquires the resource information of all satellites of the multi-satellite in-orbit autonomous cooperative system.

Fig. 6 is a schematic diagram of a satellite resource broadcast packet processing flow of a multi-satellite in-orbit autonomous cooperative system according to an embodiment of the present invention.

As shown in fig. 6, after receiving the data packet containing the resource information, the satellite parses the data packet as shown in fig. 6. And storing the received resource information of other satellites by establishing a satellite group resource information catalog. When the resource information expires, the resource information is deleted in the star group resource information catalog.

TABLE 2

Name of the name	Size and dimensions of	Meaning of
			resourceIndex	4B	Identifying a unique resource information routing entry
serverID	1B	Node ID identifying providing the service
			neighborID	1B	Last hop node ID indicating the last hop node that a resource information packet of a server node has passed before being routed to the satellite node
expireTime	4B	Resource expiration time
			size	4B	Publishing resource information size
resourceInfo	-	Publishing resource information

In the invention, when tasks are distributed in the star group, a main star is required to be selected for arbitration, and the tasks are distributed to the most suitable satellites in the star group for execution. The main star can also monitor the state of satellites in the constellation and maintain a list of available satellite information.

The main star election process is described as follows:

1) Each satellite calculates according to the collected satellite resource states in the satellite group, sorts the satellites in the satellite group according to weights, and then broadcasts the election result into the satellite group;

2) Each satellite receives the election result broadcasted by the adjacent satellite and compares the election result with the calculation result of the satellite. If so, turning to 4);

3) If the satellite numbers are inconsistent, updating the satellite group set, if the satellite numbers are increased, re-calculating, and broadcasting the result in the satellite group;

4) All satellites in the star group agree to determine that the first calculated result is the main star;

5) The master star sends heartbeat signals to all the stars in the star group, and all the slave stars respond after receiving the heartbeat;

6) If the heartbeat signal is found to be overtime from the star, the election process is re-entered, and the process goes to 1).

In the invention, the method for determining the weight of the main star can score the satellite according to the information such as the relative position of the satellite space, the type of load, the breadth, the satellite maneuverability, the communication capacity and the like, and the higher the score is, the greater the possibility of becoming the main star is.

As shown in fig. 7, after the star receives the observation requirement submitted by the user, the processing procedure is described as follows:

1) The main star determines a bid inviting range according to information such as sensor preference and the like in the demand information, the main star adopts a bid inviting mode to arrange tasks, and then the observation demand is forwarded to the auxiliary star entering the bid inviting range;

2) After each slave star receives the observation requirement, whether to bid is determined according to the attitude and orbit state and the load task information. If the task is an emergency task, allowing the task to be executed first and then bidding;

3) After receiving the bidding information of each secondary star, the primary star starts to evaluate the bid, determines the secondary star executing the observation task, and sends a bid-winning notice to the secondary star;

4) The slave star receiving the winning notification executes the observation task.

In the invention, when task planning is performed from the satellite autonomy, extrapolation is needed according to the current ephemeris, and corresponding task information is generated according to the relative position relation between the satellite and the sun, the earth and the region of interest at the future moment. The task planning process includes track extrapolation, visible window calculation, constraint checking and conflict resolution 4.

The on-orbit autonomous mission planning process is firstly orbit extrapolation, satellite orbit deduction usually adopts a J2 model or a hpop model, the J2 model is simple, the operation speed is high, and the accuracy is general; the hpop model is complex, has high extrapolation accuracy, but has low operation speed. Given the limited computational power on board the present invention uses the J2 model to extrapolate the trajectory. In order to ensure the accuracy of track extrapolation, the single track extrapolation time is set to 12 hours, and the track is estimated by adopting a cyclic forward recursion mode.

The visible window calculation process is described as follows:

1) The track time is divided into a plurality of time periods according to the latitude amplitude angle of 90 degrees, and each time period is calculated respectively.

2) And calculating the distance between the satellite and the earth center to obtain a maximum Angle1 of earth observation of the satellite at any time, and then calculating an Angle2 of the observation point relative to the satellite. If Angle2 < = Angle1, then the satellite is ipsilateral to the target.

3) And if the satellite and the target are on the same side, performing time window calculation according to the range of the included angle between the satellite and the target. Firstly converting a WGS84 coordinate system of a satellite and a target into a J2000 inertial system coordinate, then calculating a vector difference from the J2000 inertial system to a satellite orbit coordinate system, then calculating a vector difference under the attitude of a sensor (satellite body), respectively solving the included angles of xOz and yOz coordinate planes according to the vector difference, and then comparing the included angles with a half angle of a field of view to obtain the visibility of the point, namely the starting moment of a visible window.

4) And 3) searching the ending time of the visible window by adopting a dichotomy according to the searching step length.

The constraint checks include an energy storage margin check, a time margin check, and a solar altitude check for an optical satellite.

The multi-task conflict resolution performs conflict processing constraint check on all the tasks which are not executed after each observation task update. When a conflict occurs, the tasks that can be performed are determined according to the magnitude of the observation benefits.

After the calculation process, if a task window is available, the bid is determined from the star, and if no window exists, the bid is discarded from the star. The secondary star transmits the bid results to the primary star.

And judging the observation starting time of the available task window from the star, and if the distance from the current time is < =5 minutes. Then the decision from the star is to execute the task first and then bid. If the distance from the current time is more than 5 minutes, the slave star waits for the main star to return the evaluation result and then makes a decision.

And after receiving the bid evaluation result from the star, if the bid is evaluated, generating a load work instruction according to the available task window, and sending the load work instruction to the star for executing. If not, the available task window is marked as cancelled.

In the invention, the process flow of bidding information received by the master star by each slave star is as follows:

1) And analyzing bidding information of each slave star, and judging whether the slave star preemption task is executed. If yes, sending a bid-winning notice to the slave satellite, sending bid-winning results to other satellites, and ending the bid evaluation process. If not, turning to 2);

2) And the main star judges the bidding quantity aiming at each task, and if the bidding quantity is the bidding quantity, the planning failure is returned to the user. If there are only 1 secondary stars bidding, a winning bid notification is sent to the secondary star, and winning bid results are sent to other secondary stars. If the bid amount is more than 1 satellite, 3 is converted;

3) And the main star starts to evaluate the bid, determines the winning auxiliary star according to the scoring rule, sends a winning notice to the auxiliary star, and sends winning results to other satellites.

The embodiment of the invention also provides a multi-star on-orbit autonomous cooperative system, which comprises a master star and at least one slave star. The master star is used for receiving the observation requirement forwarded by any slave star in the multi-star cooperative satellite system and determining the slave star to be invited to the target according to the observation requirement and the states of all the slave stars; the secondary star to be invited is used for sending bidding information about the observation requirement to the primary star; the master star is further used for determining the slave star which performs the observation task from all the slave stars to be invited objects based on the bidding information of all the slave stars to be invited objects.

It will be appreciated that the multi-star on-orbit autonomous collaborative system may perform the autonomous mission planning method illustrated in fig. 1-7.

The multi-star on-orbit autonomous cooperative system and the autonomous task planning method thereof provided by the invention adopt a dynamic centralized planning method, realize task-oriented centralized planning based on inter-star resource state synchronization and main star election, and realize multi-star cooperative autonomous task planning by adopting a preemptive label-supporting decision-making method. The novel remote sensing satellite constellation autonomous decision making, autonomous communication coordination and autonomous cooperative task planning capability is given by establishing a multi-satellite cooperative autonomous task planning mechanism, and the information transmission of satellite control is changed from an instruction level to a task level, so that a networked star group can plan satellite tasks according to a dynamic environment and real-time interaction requirements of users, and the autonomy of multi-satellite cooperation is enhanced.

It should be noted that, for the sake of simplicity of description, the foregoing method embodiments are all expressed as a series of combinations of actions, but it should be understood by those skilled in the art that the present invention is not limited by the order of actions described, as some steps may be performed in other order or simultaneously in accordance with the present invention. Further, those skilled in the art will appreciate that the embodiments described in the specification are all preferred embodiments, and that the acts and modules referred to are not necessarily all required for the present invention.

In the foregoing embodiments, the descriptions of the embodiments are emphasized, and for parts of one embodiment that are not described in detail, reference may be made to the related descriptions of other embodiments.

The foregoing describes a multi-satellite on-orbit autonomous cooperative system and an autonomous task planning method thereof provided by the present invention, and for those skilled in the art, according to the ideas of the embodiments of the present invention, there are changes in the specific embodiments and application ranges, and in summary, the present disclosure should not be construed as limiting the present invention.

Claims

1. An autonomous mission planning method for a multi-star on-orbit autonomous collaboration system, the multi-star on-orbit autonomous collaboration system comprising a master star and at least one slave star, the method comprising:

the master star determines slave stars for executing observation tasks from all the slave stars to be invited targets based on the bidding information of all the slave stars to be invited targets;

before the main star receives the observation requirement forwarded by any slave star in the multi-star cooperative satellite system, the method further comprises the following steps:

2. The autonomous mission planning method of a multi-star on-orbit autonomous cooperative system according to claim 1, wherein the determining, by the master star, the slave star to be invited to target according to the observation requirement and the states of all the slave stars comprises:

the main star determines a bidding range according to the preference of the sensor and the spatial relative position relation in the observation requirement;

and responding to the observation requirement by the slave star in the bidding range, and determining whether to bid according to the attitude and orbit state and the load task information of the slave star.

3. The method for autonomous mission planning for a multi-star on-orbit autonomous collaborative system according to claim 2, further comprising:

the slave star judges whether the observation task is an emergency task or not;

executing the emergency task by the slave star under the condition that the observation task is the emergency task;

4. The autonomous mission planning method of a multi-star on-orbit autonomous cooperative system according to claim 2, wherein the determining whether to bid according to the own orbit state and load mission information by the slave star within the bidding range in response to the observation requirement comprises:

5. The autonomous mission planning method of a multi-star on-orbit autonomous cooperative system according to claim 1, wherein the master star determining a slave star performing an observation task from among all the slave stars to be invited based on bidding information of all the slave stars to be invited includes:

if the slave star preempts to execute the observation task, the master star sends a winning notice to the slave star, and winning results are sent to other slave stars except the slave star in the multi-star on-orbit autonomous cooperative system, wherein the winning results only comprise the slave star which preempts to execute the task, and if a plurality of slave stars preempt to execute the task, winning is carried out;

6. The method for autonomous mission planning for a multi-star on-orbit autonomous collaborative system according to claim 5, wherein the mission score is f, the scoring rule:

f=a+b-c；

7. An on-orbit multi-star autonomous cooperative system, characterized in that the multi-star on-orbit autonomous cooperative system comprises a master star and at least one slave star;

the main star is further used for determining a slave star for executing an observation task from all the slave stars to be invited according to the bidding information of all the slave stars to be invited;