CN116101514B - Multi-satellite on-orbit autonomous coordination system and its autonomous mission planning method - Google Patents

Abstract

The present invention provides a multi-satellite on-orbit autonomous coordination system and its autonomous task planning method, which are applied to the technical field of remote sensing satellite mission planning. The multi-satellite on-orbit autonomous coordination system includes a master star and at least one slave star. The method includes: The master star receives the observation requirements directly sent by the ground user terminal or forwarded by any slave satellite in the multi-satellite on-orbit autonomous cooperative satellite system, and the status of all the slave satellites. The master star receives the observation requirements and the status of all the slave satellites , determine the slave star to be invited to bid, the slave star to be invited to bid sends bidding information about the observation demand to the master star, and the master star determines from all the slave stars to be invited to bid based on the bidding information of all the slave stars to be invited to bid A slave star performing an observation mission. The transmission of satellite management and control information has changed from "command level" to "task level", which enables the networked constellation to plan satellite tasks according to the dynamic environment and real-time interaction needs of users, and enhances the autonomy of multi-satellite collaboration.

Description

Multi-satellite on-orbit autonomous coordination system and its autonomous mission planning method

technical field

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

Background technique

The mission planning of traditional remote sensing satellites is completed by the ground operation and control system. After the operation and control system receives user requirements, it completes the mission planning according to the satellite status and current mission situation, generates load work instructions and uploads them to the satellite to perform observation tasks. The entire control process is tedious, the timeliness is poor, and the efficiency of satellite applications is low. With the explosive growth of the number of satellites, traditional ground measurement, operation and control has increasingly become a bottleneck for the effectiveness of satellites. On-board autonomous mission planning can realize the satellite directly receiving user needs in orbit, and generate observation tasks according to the real-time status of the satellite, which has the advantages of being independent of the ground and high in timeliness. The existing on-board autonomous mission planning methods are mainly aimed at single satellites, and there are relatively few studies on multi-satellite cooperative autonomous mission planning.

Contents of the invention

The main purpose of the present invention is to provide a multi-satellite on-orbit autonomous coordination system and its autonomous task planning method, which adopts a dynamic centralized planning method, realizes task-oriented centralized planning based on inter-satellite resource state synchronization and master star election, and supports preemption The bidding-invitation decision-making method realizes multi-satellite collaborative autonomous mission planning.

In order to achieve the above object, the first aspect of the embodiment of the present invention provides that the multi-satellite on-orbit autonomous coordination system includes a master star and at least one slave star, and the method includes:

The master star receives the observation requirements directly sent by the ground user terminal or forwarded by any slave star in the multi-satellite on-orbit autonomous coordination system, and the status of all the slave stars;

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

The slave star to be invited to bid sends bidding information about the observation requirement to the master star;

The master star determines a slave star to perform an observation task 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 star receives the observation requirements forwarded by any slave star in the multi-satellite coordinated satellite system, it also includes:

Each satellite in the multi-satellite on-orbit autonomous coordination system calculates according to the collected satellite resource states of all satellites in the multi-satellite on-orbit autonomous coordination system, and obtains a calculation result;

sort all the satellites in the multi-satellite on-orbit autonomous coordination system according to the calculation result and the preset weights of the satellites, and obtain an election result, the election result indicates the satellite elected as the main star;

Each satellite in the multi-satellite on-orbit autonomous coordination system receives the election result broadcast by an adjacent satellite;

Each satellite in the multi-satellite on-orbit autonomous coordination system updates all satellites in the multi-satellite on-orbit autonomous coordination system if the election result is inconsistent with its own calculation result, and the multi-satellite When the number of all satellites in the on-orbit autonomous coordination system increases, re-execute each satellite in the multi-satellite on-orbit autonomous coordination system according to the collected satellite resource status of all satellites in the multi-satellite on-orbit autonomous coordination system The steps of performing calculations and obtaining calculation results;

Each satellite in the multi-satellite on-orbit autonomous coordination system determines the main satellite based on the election result when the election result is consistent with its own calculation result.

Optionally, the master star determines the slave stars to be invited according to the observation requirements and the states of all the slave stars include:

The main star determines the scope of bidding according to the sensor preference in the observation requirements;

The master star forwards the observation requirement to the slave stars within the bidding range;

In response to the observation requirements, the slave satellites within the bidding range determine whether to bid according to their own attitude and orbit status and load task information;

Determining the slave star whose bid is determined as the slave star to be invited to bid.

Optionally, the method also includes:

The slave satellites within the scope of the bidding are based on their current status and complete the planning of observation tasks according to the observation requirements;

The slave judges whether the observation task is an emergency task;

In the case of whether the observation task is the emergency task, the slave star performs the emergency task;

After performing the emergency mission, the slave satellite sends bidding information about the observation requirement to the master satellite.

Optionally, in response to the observation requirements, the slave satellites within the bidding range determine whether to bid according to their own attitude status and load task information, including:

The slave satellites within the scope of bidding are extrapolated according to the current ephemeris, and the corresponding task information is generated according to the relative positional relationship between the satellite and the sun, the earth and the region of interest in the future;

Based on the mission information, the slave satellite performs mission planning according to its own attitude and orbit state and load task information, and the mission planning includes orbit extrapolation, visible window calculation, constraint checking and conflict resolution;

After the visible window calculation, constraint checking and conflict resolution, it is checked that there is an available task window, then the slave star determines the bid.

Optionally, the master star, based on the bidding information of all the slave stars to be invited, determines the slave star to perform the observation task from all the slave stars to be invited to include:

The master star analyzes the bidding information of the slave star to be invited to bid, and judges whether there is a slave star preempting to perform the observation task;

If there is a slave star preempting to execute the observation task, the master star sends a bid winning notification to the slave star, and sends a bid winning result to other slave stars in the multi-satellite on-orbit autonomous coordination system except the slave star, so The bid-winning results above indicate the winning bidders;

If the observation task is not preempted by the slave star, the master star calculates the task scores of all the slave stars to be invited according to the preset scoring rules, and determines from all the slave stars to be invited according to the task score A slave star performing an observation mission.

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

f=a+b-c;

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

The second aspect of the embodiment of the present invention provides a multi-satellite on-orbit autonomous coordination system, the multi-satellite on-orbit autonomous coordination system includes a master star and at least one slave star;

The master star is used to receive the observation requirements directly sent by the ground user terminal or forwarded by any slave star in the multi-satellite on-orbit autonomous coordination system, and the status of all the slave stars, according to the observation requirements and all the Determine the slave star status to be invited;

The slave star to be invited is used to send bidding information about the observation requirement to the master star;

The master star is further configured to determine a slave star to perform an observation task from all the slave stars to be invited based on the bidding information of all the slave stars to be invited.

It can be seen from the above-mentioned embodiments of the present invention that the multi-satellite on-orbit autonomous coordination system and its autonomous task planning method provided by the present invention adopt a dynamic centralized planning method, and realize task-oriented centralized planning based on inter-satellite resource state synchronization and master star election. Adopt preemptive bid invitation decision-making method to realize multi-satellite collaborative autonomous mission planning. By establishing a multi-satellite collaborative autonomous mission planning mechanism, the new remote sensing satellite constellation is endowed with the capabilities of autonomous decision-making, autonomous communication coordination, and autonomous collaborative mission planning. The constellation can plan satellite missions according to the dynamic environment and real-time interaction needs of users, which enhances the autonomy of multi-satellite collaboration.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. For those skilled in the art, other drawings can also be obtained according to these drawings without creative work.

Fig. 1 is a schematic flow chart of the autonomous mission planning method of the multi-satellite on-orbit autonomous coordination system provided by an embodiment of the present invention;

2-5 are schematic diagrams of the satellite resource synchronization process of the multi-satellite on-orbit autonomous coordination system provided by an embodiment of the present invention;

6 is a schematic diagram of a satellite resource broadcast packet processing flow of a multi-satellite on-orbit autonomous coordination system provided by an embodiment of the present invention;

Fig. 7 is a schematic diagram of autonomous mission planning of a multi-satellite on-orbit autonomous coordination system provided by an embodiment of the present invention.

Detailed ways

In order to make the purpose, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described The embodiments are only some of the embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative efforts belong to the protection scope of the present invention.

FIG. 1 is a schematic flowchart of an autonomous mission planning method for a multi-satellite on-orbit autonomous coordination system provided by an embodiment of the present invention. The multi-satellite on-orbit autonomous coordination system includes a master star and at least one slave star.

As shown in Fig. 1, the method mainly includes the following steps S101-S104.

S101. The master star receives the observation requirements directly sent by the ground user terminal or forwarded by any slave star in the multi-satellite on-orbit autonomous coordination system, and the status of all the slave stars.

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

S103. The slave star to be invited to bid sends bidding information about the observation requirement to the master star.

S104. Based on the bidding information of all the slave stars to be invited, the master star determines a slave star to perform the observation task from all the slave stars to be invited to bid.

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

S201. Each satellite in the multi-satellite on-orbit autonomous coordination system performs calculations according to the collected satellite resource states of all satellites in the multi-satellite on-orbit autonomous coordination system, and obtains calculation results.

S202. According to the calculation result and the preset weights of the satellites, sort all the satellites in the multi-satellite on-orbit autonomous coordination system to obtain an election result, and the election result indicates the satellite elected as the main satellite.

S203. Each satellite in the multi-satellite on-orbit autonomous coordination system receives the election result broadcasted by an adjacent satellite.

S204. When the election result of each satellite in the multi-satellite on-orbit autonomous coordination system is inconsistent with its own calculation result, update all the satellites in the multi-satellite on-orbit autonomous coordination system. When the number of all satellites in the coordinated system increases, step 201 is re-executed.

S205. Each satellite in the multi-satellite on-orbit autonomous coordination system determines the primary satellite based on the election result when the election result is consistent with its own calculation result.

In an embodiment of the present invention, in step S102, the master satellite determines the slave satellites to be invited according to the observation requirement and the states of all the slave satellites, including the following steps S301-S304.

S301. The main star determines the bidding scope according to the sensor preference in the observation requirement.

S302. The master star forwards the observation requirement to the slave stars within the bidding range.

S303. In response to the observation requirement, the slave satellites within the bidding range determine whether to bid according to their own attitude and orbit status and payload task information.

S304. Determine the slave star whose bid is determined as the slave star of the bid to be invited.

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

S401. The slave satellites within the bidding range complete the planning of the observation task according to the observation requirement based on their current status.

S402. The slave judges whether the observation task is an emergency task.

S403. In the case of whether the observation task is the emergency task, the slave satellite executes the emergency task.

S404. After executing the emergency task, the slave satellite sends bidding information about the observation requirement to the master satellite.

In an embodiment of the present invention, the above-mentioned S303 slave satellites within the bidding range respond to the observation requirement, and determine whether to bid according to their own attitude and orbit status and load task information, including: the slave satellites within the bidding range perform according to the current ephemeris Extrapolation, according to the relative positional relationship between the satellite and the sun, the earth and the area of interest in the future, the corresponding mission information is generated; based on the mission information, the slave satellite performs mission planning according to its own attitude and orbit status and load mission information. Mission planning includes orbit extrapolation, visible window calculation, constraint checking and conflict resolution; if there is an available task window in the visible window calculation, the slave determines the bid.

In an embodiment of the present invention, the above-mentioned S104, based on the bidding information of all the slave stars to be invited by the master star, determining the slave star to perform the observation task from all the slave stars to be invited includes: the master star analyzes the slave star to be invited to bid According to the bidding information of the satellite, it is judged whether there is a slave star preempting to perform the observation task; if there is a slave star preempting the execution of the observation task, the master star sends a bid winning notice to the slave star, and removes the slave star from the multi-satellite on-orbit autonomous coordination system. Other slave stars other than the star send the bid-winning result, and the bid-winning result indicates the winning slave star; if no slave star preempts the execution of the observation task, the master star calculates the task scores of all the slave stars to be invited according to the preset scoring rules, According to the task score, determine the slave star to perform the observation task from all the slave stars to be invited.

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

Observation revenue is defined as demand priority. Observation delays are sorted according to the observation start time. The earlier the time, the higher the score. Observational energy consumption is defined as the radian value of satellite roll and pitch angles.

2-5 are schematic diagrams of the satellite resource synchronization process of the multi-satellite on-orbit autonomous coordination system provided by an embodiment of the present invention.

With the support of the inter-satellite communication link, the satellite broadcasts its own attitude, orbit and data products in the constellation of the multi-satellite cooperative satellite system. After receiving the broadcast information, each satellite completes the synchronization of resource status, which is convenient for users to obtain Constellation resource information, while providing support for multi-satellite collaborative mission planning.

In the autonomous mission planning method of the multi-satellite on-orbit autonomous coordination system, the resources released by satellite broadcasting include: satellite status information and load resource information. Satellite status information includes the orbit, attitude, available computing, storage, energy, etc. of the satellite. Load resource information includes information such as load type and load working status. The resource information released by the satellite includes the resource validity period, and the resource information released by the satellite will become invalid after timeout.

It is understandable that the amount of satellite and payload resource data is small, and it is suitable to be released by regular broadcasting.

The JSON format resource descriptions of satellite resources and sensor resources are as follows:

{"satellite resource information":

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

"Aging": "30min"

"Satellite Information":

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

"Orbital root 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%"

},

"Load resource information":

{"PayloadType": "SAR",

"Payload Task Status":

{"number of tasks": "n",

"Task":

["Observation location coordinates":

{"longitude":"x",

"latitude": "y"

},

"Boot Time": "xxx",

"shutdown time": "xxx",

]

...

}

}

}

}

In the above data format, orbital elements include epoch time, semi-major axis, eccentricity, orbital inclination, right ascension of ascending node, argument of perigee, and anomaly.

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

Table 1

serial number name illustrate 1 packetType packet type 2 packetID The broadcast packet ID generated by the server node 3 serverID The ID of the node that generated the resource broadcast packet 4 senderID The ID of the node that the packet passed through on the previous hop 5 birthTime The time the package was created 6 life time The effective lifetime of the package 7 remain Hop The remaining hops of the broadcast packet 8 reserved reserved text 9 resourceInfo Serialized representation of satellite resource description

Local resource publishing uses a single-hop method to broadcast local resource information to adjacent nodes, and resource information broadcasting is triggered by local resource information change events or service request messages. Compared with the previous broadcast, each resource information broadcast only sends incremental information, thereby suppressing repeated delivery of service messages, avoiding waste of network bandwidth, and speeding up resource discovery. Each satellite forwards other satellite resource information received by the satellite to the adjacent nodes at the same time. When the routing topology of the satellite network changes, all resource information is sent to the newly added node.

As shown in Figure 2 to Figure 5, at the initial moment, each satellite generates the resource information to be released by the satellite, and after the resource information release of the satellite A and the B satellite, they obtain each other's resource information. After an information exchange between star A and star C, both star A and star C obtain the resource information of 3 stars in the entire network. After another information exchange between star A and star B, star A obtains the resource information of the entire network. So far, each satellite has obtained the resource information of all satellites in the multi-satellite on-orbit autonomous coordination system.

Fig. 6 is a schematic diagram of a processing flow of a satellite resource broadcast packet of a multi-satellite on-orbit autonomous coordination system provided by an embodiment of the present invention.

As shown in FIG. 6 , after the satellite receives the data packet containing resource information, it analyzes the data packet as shown in FIG. 6 . Save the received resource information of other satellites by establishing a constellation resource information directory. When the resource information expires and becomes invalid, the resource information is deleted in the constellation resource information directory.

Table 2

name size meaning resourceIndex 4B Identifies a unique resource information routing entry serverID 1B Identify the node ID that provides the service neighborID 1B Indicates the ID of the last hop node that the resource information packet of the server node passes before being routed to the satellite node expireTime 4B resource expiration time size 4B Publish resource information size resourceInfo - Publish resource information

In the present invention, when assigning tasks in the constellation, it is necessary to select a master star for arbitration, and assign the task to the most suitable satellite in the constellation for execution. The main star can also monitor the status of the 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 status in the constellation, sorts the satellites in the constellation according to their weight, and then broadcasts the election results to the constellation;

2) Each satellite receives the election results broadcast by nearby satellites and compares them with the calculation results of this satellite. If consistent, turn to 4);

3) If inconsistent, update the constellation set, if the number of satellites increases, recalculate and broadcast the result in the constellation;

4) All satellites in the constellation reach a consensus to determine the main star with the first place in the calculation result;

5) The master star sends a heartbeat signal to each star in the constellation, and each slave star responds after receiving the heartbeat;

6) If the slave finds that the heartbeat signal has timed out, it will re-enter the election process and go to 1).

In the present invention, the main star weight determination method can score the satellites according to the satellite space relative position, load type, width, satellite maneuverability, communication ability and other information. The higher the score, the greater the possibility of becoming the main star.

Fig. 7 is a schematic diagram of autonomous mission planning of a multi-satellite on-orbit autonomous coordination system provided by an embodiment of the present invention.

As shown in Figure 7, after the main star receives the observation requirements submitted by the user, the processing process is described as follows:

1) The master star determines the bidding scope according to the sensor preference and other information in the demand information, and the master star arranges tasks by way of bidding, and then forwards the observation requirements to the slave stars that enter the bidding range;

2) After receiving the observation requirements, each slave satellite determines whether to bid according to the attitude status and load task information. If it is an emergency task, it is allowed to perform the task before bidding;

3) After the master star receives the bidding information of each slave star, it starts bid evaluation, determines the slave star to perform the observation task, and sends the bidding notification to the slave star;

4) Observation missions will be carried out from satellites that have received the notification of winning the bid.

In the present invention, when the slave satellite performs mission planning autonomously, it first needs to extrapolate according to the current ephemeris, and generate corresponding mission information according to the relative positional relationship between the satellite and the sun, the earth and the region of interest in the future. The process of mission planning includes orbit extrapolation, visible window calculation, constraint checking and conflict resolution.

The on-orbit autonomous mission planning process starts with orbit extrapolation. Satellite orbit derivation usually uses the J2 model or the hpop model. The J2 model is simple, with fast calculation speed and average accuracy; while the hpop model is more complex, with high extrapolation accuracy but slow calculation speed. Considering the limited computing power on the planet, the J2 model is used in the present invention to extrapolate the orbit. In order to ensure the accuracy of orbital extrapolation, the single orbital extrapolation time is set to 12 hours, and the orbit is estimated by using the circular forward recursion method.

The visible window calculation process is described as follows:

1) The orbit time is divided into multiple time periods according to the latitude argument of 90°, and each time period is calculated separately.

2) Calculate the distance between the satellite and the center of the earth to obtain the maximum angle Angle1 for the satellite to observe the earth at any time, and then calculate the angle Angle2 between the observation point and the satellite. If Angle2 <= Angle1, the satellite and the target are on the same side.

3) If the satellite and the target are on the same side, calculate the time window according to the angle range between the satellite and the target. First convert the WGS84 coordinate system of the satellite and the target to the J2000 inertial system coordinates, then calculate the vector difference between the J2000 inertial system and the satellite orbit coordinate system, and then calculate the vector difference under the attitude of the sensor (satellite body), and calculate xOz and The included angle of the yOz coordinate plane, and then compare this included angle with the half-angle of the field of view to obtain the visibility of the point, that is, the starting moment of the visible window.

4) The algorithm is the same as step 3). According to the search step size, the dichotomy method is used to find the end time of the visible window.

Constraint checks include energy storage margin checks, time margin checks, and for optical satellites, sun altitude checks.

Multi-task conflict resolution After each observation task is updated, all unexecuted tasks are checked for conflict resolution constraints. When a conflict occurs, the tasks that can be performed are determined according to the size of the observed benefits.

After going through the above calculation process, if there is an available task window, the bid will be decided by the star, and if there is no window, the bid will be abandoned by the star. The slave star sends the bidding result to the master star.

Judging the observation start time of the available task window from the star, if the distance from the current time is <= 5 minutes. Then the slave decides to perform the task first and then bid. If the distance from the current time is > 5 minutes, the slave star waits for the master star to return the bid evaluation result before making a decision.

After receiving the bid evaluation results from the satellite, if the bid is won, a load work order will be generated according to the available task window and sent to the satellite for execution. If the bid is not won, mark the available task window as cancelled.

In the present invention, the processing flow of the master star receiving the bidding information of each slave star is as follows:

1) Analyze the bidding information of each slave star to determine whether there is a slave star preempting the task execution. If so, send a bid winning notice to the slave satellite, send the bid winning result to other satellites, and the bid evaluation process ends. If not, go to 2);

2) The main star judges the number of bids for each task, and if the bid fails, it will return the planning failure to the user. If there is only one slave star bidding, send the bid winning notification to the slave star, and send the bid winning results to other slave stars. If more than 1 slave bid, go to 3;

3) The master star starts bid evaluation, determines the bid-winning slave star according to the scoring rules, sends the bid-winning notification to the slave star, and sends the bid-winning result to other satellites.

An embodiment of the present invention also provides a multi-satellite on-orbit autonomous coordination system. The multi-satellite on-orbit autonomous coordination system includes a master star and at least one slave star. The master star is used to receive the observation demand forwarded by any slave star in the multi-satellite coordinated satellite system, and the status of all the slave stars, and determine the slave star to be invited according to the observation demand and the status of all the slave stars; The slave star to be invited is used to send bidding information about the observation demand to the master star; the master star is also used to determine the execution of observation from all the slave stars to be invited based on the bidding information of all the slave stars to be invited The slave star of the task.

It can be understood that the multi-satellite on-orbit autonomous coordination system can implement the autonomous mission planning methods shown in FIGS. 1 to 7 .

A multi-satellite on-orbit autonomous coordination system and its autonomous task planning method proposed by the present invention adopts a dynamic centralized planning method, realizes task-oriented centralized planning based on inter-satellite resource state synchronization and master star election, and adopts a preemptive bid invitation Decision-making method to realize multi-satellite cooperative autonomous mission planning. By establishing a multi-satellite collaborative autonomous mission planning mechanism, the new remote sensing satellite constellation is endowed with the capabilities of autonomous decision-making, autonomous communication coordination, and autonomous collaborative mission planning. The constellation can plan satellite missions according to the dynamic environment and real-time interaction needs of users, which enhances the autonomy of multi-satellite collaboration.

It should be noted that, for the sake of simplicity of description, the aforementioned method embodiments are expressed as a series of action combinations, but those skilled in the art should know that the present invention is not limited by the described action sequence. Because of the present invention, certain steps may be performed in other orders or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification belong to preferred embodiments, and the actions and modules involved are not necessarily required by the present invention.

In the above-mentioned embodiments, the descriptions of each embodiment have their own emphases, and for parts not described in detail in a certain embodiment, reference may be made to relevant descriptions of other embodiments.

The above is a description of a multi-satellite on-orbit autonomous coordination system and its autonomous mission planning method provided by the present invention. For those skilled in the art, based on the ideas of the embodiments of the present invention, they will understand both the specific implementation and the scope of application. There are changes, and in summary, the contents of this specification should not be construed as limiting the present invention.

Claims (7)

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 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 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:

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.

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;

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

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 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 the observation task is the emergency task;

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

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:

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.

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:

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 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;

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.

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；

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.

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 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 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;

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:

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.

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