Autonomous planning method, system and medium for giant heterogeneous constellation observation task

Abstract

Embodiments of the present application disclose a kind of autonomous planning method, system and medium for giant heterogeneous constellation observation task;The method comprises: after receiving the original task set information of upper injection in the first satellite in heterogeneous constellation, the satellite that meets the task type and demand load in the first satellite network corresponding to itself sends task commission information;Wherein, the first satellite network includes at least one satellite of each load category in the heterogeneous constellation The second satellite that receives task commission information in the first satellite network constructs the second satellite network based on the load category of itself, which is the same as the load category in the heterogeneous constellation Satellite;The second satellite decomposes task according to the task commission information, to obtain meta task set;The second satellite determines the task execution satellite for the meta task set in the second satellite network based on the set contract bidding strategy, so that the task execution satellite executes the original task set.

Description

TECHNICAL FIELD

[0001] The embodiment of the present application relates to the technical field of satellite mission planning, in particular to an autonomous planning method and system for a giant heterogeneous constellation observation mission and a medium. BACKGROUND

[0002] The existing space-based earth observation satellite / constellation resources include dozens of payloads such as visible light, infrared, synthetic aperture radar (SAR), hyperspectral, and microwave imaging, and the configurations of the payloads, platform resources, orbital coverage, space-ground measurement and control, and data transmission network are different in many aspects, forming a heterogeneous constellation composed of multiple orbits, single satellite, multiple satellites, and constellation. In addition, for the satellite mission planning problem, it is essentially a combinatorial optimization problem of achieving high-quality execution of tasks and efficient use of resources under the constraints of limited space-time, on-board resources, and other conditions. Because different types of satellite operation modes are different and different types of tasks have different constraint conditions, a task planning model that matches satellites and tasks needs to be established when planning satellite missions.

[0003] For a giant heterogeneous constellation, in addition to considering the mission planning of a single satellite, the task allocation and cooperation between constellation satellites are also involved. The current conventional scheme is to unify the task planning and allocation problem into a task planning model and solve the task planning model to achieve the mission planning and allocation of a single or multiple satellites. The main working mode of the conventional scheme is to plan and allocate the tasks to be executed in advance by a comprehensive ground control platform, and then upload the generated task execution instructions to each satellite through the ground station. Because the number of ground stations is limited, there is a long time interval between two satellite passes, so the current conventional scheme will delay the execution response time of the task during implementation.

[0004] The current conventional task allocation and planning model can generally include: discrete planning model, mathematical model represented by integer and mixed integer programming; constraint satisfaction problem (CSP) model, dynamic CSP model; graph theory-based model and Petri net model, etc. The conventional satellite mission planning scheme mostly uses the above-mentioned models to model the space-time resources and on-board payload resources, and then uses heuristic algorithms to optimize and solve. However, satellite mission planning itself is an NP-hard problem, and with the increase of the number of observation tasks and satellites, the solution space will expand sharply, making it difficult for the current conventional scheme to meet the needs of future giant heterogeneous constellation observation missions in terms of solution time and efficiency. SUMMARY

[0005] Therefore, the embodiment of the present application expects to provide an autonomous planning method, system and medium for a mega heterogeneous constellation observation task; the execution rate of the constellation task and the use efficiency of the constellation resources can be improved, and the purpose of efficiently and systematically utilizing space-based resources can be achieved.

[0006] The technical solution of the embodiment of the present application is as follows:

[0007] In a first aspect, the embodiment of the present application provides an autonomous planning method for a mega heterogeneous constellation observation task, which is applied to a heterogeneous constellation, and the method comprises the following steps:

[0008] After receiving the information of the upper-layered injected original task set, a first satellite in the heterogeneous constellation sends task commission information to satellites in a first satellite network corresponding to the first satellite and meeting the task type and the required load; the first satellite network comprises at least one satellite of each load type in the heterogeneous constellation;

[0009] A second satellite in the first satellite network receives the task commission information, and constructs a second satellite network based on the load type of the second satellite, the second satellite network comprising satellites of the same load type in the heterogeneous constellation;

[0010] The second satellite performs task decomposition according to the task commission information to obtain a meta task set; each meta task in the meta task set can be executed by a single satellite in a single time to be completed;

[0011] The second satellite determines a task execution satellite for the meta task set in the second satellite network based on a set contract bidding strategy, so that the task execution satellite executes the original task set.

[0012] In a second aspect, the embodiment of the present application provides a mega heterogeneous constellation system, which comprises a first satellite, a first satellite network corresponding to the first satellite in the heterogeneous constellation, and a second satellite network corresponding to each satellite in the first satellite network; the first satellite network comprises at least one satellite of each load type in the heterogeneous constellation; the second satellite network comprises satellites of the same load type as the second satellite in the heterogeneous constellation;

[0013] The first satellite is configured to, after receiving the information of the upper-layered injected original task set, send task commission information to second satellites in a first satellite network corresponding to the first satellite and meeting the task type and the required load;

[0014] The second satellite is configured to construct a second satellite network of satellites with the same load type in the heterogeneous constellation based on the load type of the second satellite, and to decompose the task based on the task delegation information to obtain a set of meta-tasks, and to determine a task execution satellite for the set of meta-tasks in the second satellite network based on a set contract bidding strategy, so that the task execution satellite executes the original set of tasks.

[0015] In a third aspect, an embodiment of the present application provides a computer storage medium storing an autonomous planning program for a mega-heterogeneous constellation observation task, which, when executed by at least one processor, implements the autonomous planning method for the mega-heterogeneous constellation observation task of the first aspect.

[0016] The embodiment of the present application provides an autonomous planning method, system and medium for a mega-heterogeneous constellation observation task; according to the master-slave architecture of the first satellite network and the second satellite network, the tasks uploaded are allocated to the second satellite in the first satellite network according to the task type and the task demand load, and the second satellite network corresponding to the second satellite is allocated through a contract bidding strategy, so as to realize the collaborative planning of the tasks, and the computing load of the tasks is dispersed to a single satellite, so that the load of the entire heterogeneous system is more balanced, the requirements of the satellite storage and computing capacity are reduced, the execution rate of the constellation task and the use efficiency of the constellation resource are improved, and the purpose of efficient and systematic utilization of space-based resources is realized. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 A flowchart of an autonomous planning method for a mega-heterogeneous constellation observation task is provided for the embodiment of the present application.

[0018] Figure 2 A heterogeneous constellation architecture diagram is provided for the embodiment of the present application.

[0019] Figure 3 A composition diagram of a mega-heterogeneous constellation system is provided for the embodiment of the present application. DETAILED DESCRIPTION

[0020] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application.

[0021] Reference is made to Figure 1 which shows an autonomous planning method for a mega-heterogeneous constellation observation task provided by the embodiment of the present application, the method is applied to a heterogeneous constellation, and the method comprises:

[0022] S101: After receiving the original task set information of the bet, the first satellite in the heterogeneous constellation sends task commission information to the satellites in the first satellite network corresponding to the first satellite and meeting the task type and demand load; wherein the first satellite network includes at least one satellite of each load type in the heterogeneous constellation;

[0023] S102: The second satellite in the first satellite network receiving the task commission information constructs a second satellite network based on the load type of the second satellite and the same load type of the satellites in the heterogeneous constellation;

[0024] S103: The second satellite decomposes the task according to the task commission information to obtain a meta-task set; wherein each meta-task in the meta-task set can be executed by a single satellite in a single execution to complete;

[0025] S104: The second satellite determines the task execution satellite for the meta-task set in the second satellite network based on the set contract bidding strategy, so that the task execution satellite executes the original task set.

[0026] Through the technical solution shown in Figure 1 , according to the master-slave architecture of the first satellite network and the second satellite network, the bet task is allocated to the second satellite in the first satellite network according to the task type and the task demand load, and the second satellite network corresponding to the second satellite is allocated by the contract bidding strategy, so as to realize the cooperative planning of the task, and the calculation load of the task is dispersed to a single satellite, so that the load of the whole heterogeneous system is more balanced, the requirements of the satellite storage and calculation ability are reduced, so as to improve the execution rate of the constellation task and the use efficiency of the constellation resource, and realize the purpose of efficient and systematic utilization of space-based resources.

[0027] For the above technical solution, the schematic architecture of the heterogeneous constellation suitable for the embodiment of the present application is shown in Figure 2 . In Figure 2 , when the ground station needs the heterogeneous constellation to execute the set task, the ground station can send the above-mentioned original task set information to any satellite currently visible in the heterogeneous constellation, which is the first satellite in the first satellite network. Figure 1The first satellite N1-1 in the illustrated technical solution; it should be noted that for each satellite in the heterogeneous constellation, there is a corresponding first satellite network, such that the first satellite network includes at least one satellite of each type of payload in the heterogeneous constellation. It can be understood that the first satellite network N1 includes the first satellite N1-1 itself. Taking a heterogeneous constellation used for observation as an example, this constellation includes satellites each carrying one of five types of payloads: visible light, infrared, hyperspectral, microwave imaging, and SAR. Assuming that the first satellite N1-1 receives the original mission set information and carries a visible light payload, then the first satellite network N1 corresponding to the first satellite N1-1 also includes at least one satellite carrying an infrared payload, at least one satellite carrying a hyperspectral camera payload, at least one satellite carrying a microwave imaging payload, and at least one satellite carrying a SAR payload. Figure 2 As shown, the satellites in N1 other than the first satellite can be identified as N1-2 to N1-m, where m = 5. For any satellite in N1, it can obtain information such as the orbit, mission status, and payload of each satellite in the entire heterogeneous constellation. Based on this, it can construct a second satellite network N2 with satellites of the same payload type in the heterogeneous constellation, thereby enabling the realization of… Figure 1 This provides a basis for the contract bidding strategy of the technical solution shown. For example... Figure 2 As shown, for N1-1, satellites with the same payload type in the heterogeneous constellation can be jointly constructed into a second satellite network N2-1. It can be understood that N2-1 includes N1-1. Correspondingly, N1-2 can be jointly constructed into a second satellite network N2-2; N1-m can be jointly constructed into a second satellite network N2-m.

[0028] for Figure 1 In some possible implementations of the technical solution shown, after receiving the original mission set information from the ground station, the first satellite in the heterogeneous constellation sends mission delegation information to satellites in its corresponding first satellite network that match the mission type and required payload, including:

[0029] When the first satellite is visible relative to the ground station, it receives the original mission set information uploaded by the ground station;

[0030] The first satellite obtains the mission types of the original mission set and the types of payloads required to complete the original mission set by parsing the original mission set information;

[0031] The first satellite selects a second satellite from the first satellite network that matches the mission type of the original mission set and the types of payloads required to complete the original mission set;

[0032] The first satellite sends task commission information to the second satellite.

[0033] For the above implementation manners, in combination with Figure 2 the exemplary heterogeneous satellite architecture shown in the figure, it should be noted that when the ground station needs to upload tasks, the first satellite N1-1 is in the visible position of the ground station, and then the ground station uploads the original task set information to the first satellite N1-1. The content embodied in the original task set information at least includes: task type, required load type for completing the task, and specific task content (at least including time, space, participation dimension, and other related information of the task); the first satellite N1-1 obtains the task type of the original task set and the required load type for completing the task by analyzing the received original task set information; and the original task set includes one or more original tasks. For example, it is assumed that the first satellite N1-1 learns from the content of the original task set information that the task type is an observation task and the required load type is an infrared load, and it is assumed that the satellite carrying the infrared load in the first satellite network N1 is N1-2; then the first satellite N1-1 will select the satellite carrying the infrared load as the second satellite in the first satellite network corresponding to itself, such as N1-2, that is, the original task set will be completed by the second satellite network N2-2 constructed by N1-2; after the selection is completed, the first satellite N1-1 will send task commission information to the second satellite N1-2. It can be understood that when the required load type is more than one, such as the required load type including an infrared load and a hyperspectral camera load, then the first satellite N1-1 will select the satellite N1-2 carrying the infrared load and the satellite N1-m carrying the hyperspectral camera load as the second satellite in the first satellite network corresponding to itself; and send task commission information to the two second satellites respectively. In some examples, the task commission information will describe the task content of the original task set in detail.

[0034] For Figure 1 the technical solution shown in the figure, in some possible implementation manners, the second satellite decomposes the task according to the task commission information to obtain a meta-task set, including:

[0035] The second satellite decomposes the long-term or periodic task in the time domain in the original task set into a short-term task set;

[0036] The second satellite decomposes the area observation task in the spatial domain in the original task set into a point target task set through area target decomposition;

[0037] The second satellite decomposes the multi-load and multi-dimension collaborative task in the original task set into a single-load and single-dimension task set;

[0038] The second satellite obtains the meta-task set based on the short-term task set, the point target task set and the single-load single-dimension task set.

[0039] For the above implementation, in combination with the foregoing description, it needs to be explained that the second satellite N1-2 carrying the infrared load in the first satellite network N1 can decompose the task commission information after receiving it, obtain a plurality of meta-tasks that can be completed by a single satellite in a single execution, and thus form a meta-task set. Specifically, when the task content description of the original task set in the task commission information is that long-term or periodic infrared observation needs to be performed in the time domain, or infrared observation needs to be performed on a specific area in the spatial domain, or multiple infrared load satellites need to cooperate to perform observation, etc., through these task content description contents, the second satellite N1-2 can independently and completely divide or decompose it, and thus obtain a plurality of meta-tasks. The meta-task set formed by the meta-tasks can completely and completely represent the task content of the original task set.

[0040] For Figure 1 The technical solution shown in the figure, in some possible implementation manners, the second satellite determines a task execution satellite for the meta-task set in the second satellite network based on a set contract bidding strategy, so that the task execution satellite executes the original task set, including:

[0041] The second satellite sends bidding information to all satellites in the second satellite network according to each meta-task in the meta-task set;

[0042] Each satellite in the second satellite network performs task planning and task execution capability evaluation for each meta-task after receiving the bidding information;

[0043] The second satellite determines the execution satellite corresponding to each meta-task from the second satellite network by taking the received task execution capability evaluation result in the second satellite network as bidding information for bid evaluation work.

[0044] For the above implementation mode, in combination with the foregoing description, it needs to be explained that, since the payloads of all satellites in the second satellite network N2-2 are the same as the second satellite N1-2, all the sub-tasks in the sub-task set decomposed by the second satellite N1-2 need to be implemented by the payloads corresponding to the second satellite network N2-2. Based on this, the second satellite N1-2 can respectively invite bidding in the second satellite network N2-2 for each sub-task in the sub-task set and send the bidding information. Understandably, the bidding information corresponding to each sub-task includes the execution content of the sub-task. After learning the bidding information of each sub-task, all the satellites (including the second satellite N1-2 itself) in the second satellite network N2-2 perform task execution capability evaluation on each sub-task based on their own processing capability, current processing progress and other conditions, and feed back the evaluation results as the tender to the second satellite N1-2, so that the second satellite N1-2 can evaluate the bidding for each sub-task and determine the corresponding execution satellite for each sub-task in the second satellite network N2-2 according to the evaluation results.

[0045] Based on the above implementation mode, in some examples, after the second satellite sends the bidding information, the method further includes:

[0046] The second satellite sets an evaluation duration.

[0047] The second satellite regards the task execution capability evaluation results received within the evaluation duration as valid bidding information.

[0048] For the above example, it can be understood that, after the second satellite N1-2 issues the bidding information, it will not wait indefinitely for the satellites in the second satellite network N2-2 to bid, so an evaluation duration will be set. The bidding information received within the evaluation duration will be regarded as valid bidding information, and these valid bidding information will be the basis for evaluation. When the bidding information is not received when the evaluation duration is exceeded, it is considered that the bidding is abandoned or the bidding information is invalid.

[0049] Based on the above implementation mode, in some examples, after receiving the bidding information, each satellite in the second satellite network performs task planning and task execution capability evaluation for each sub-task, including:

[0050] After receiving the bidding information, each satellite in the second satellite network performs single-satellite task planning for each sub-task according to its own processing capability, and feeds back the single-satellite task planning result of each sub-task to the second satellite as the task execution capability evaluation result.

[0051] For the above example, it should be noted that each satellite in the second satellite network can carry out single-satellite task planning, including constraint judgment, visibility calculation, attitude calculation, task execution capability evaluation, imaging timing formulation, etc. For the task execution capability, each meta-task is matched according to the self-processing capability, the current uncompleted task queue, etc., so as to determine whether the self has the execution capability for each meta-task, if yes, the execution description information is generated, which can include the time length required to complete the meta-task based on the self-processing capability, storage occupation, processor occupation of the on-board computer, etc. resource consumption information, the time information of the earliest start of the meta-task, the end information of the latest completion of the meta-task, etc. These execution description information is also used as the basis for the second satellite N1-2 to evaluate the bid. If the satellite does not have the execution capability for a specific meta-task, the corresponding execution failure indication information is generated, so that the second satellite N1-2 does not consider the satellite without execution capability when evaluating the bid for the specific meta-task.

[0052] Based on the above implementation mode, in some examples, the second satellite carries out bid evaluation work on the received task execution capability evaluation result of the second satellite network, and determines the execution satellite corresponding to each meta-task from the second satellite network, including:

[0053] The second satellite carries out bid evaluation according to the received task execution capability evaluation result according to the greedy search algorithm, so as to determine the corresponding execution satellite for each meta-task.

[0054] For the above example, it should be noted that if the second satellite does not determine the corresponding execution satellite for all meta-tasks, the meta-task which has not been allocated the execution satellite will continue to be published to all satellites in the second satellite network N2-2, so that all satellites in the second satellite network N2-2 continue to bid for the next round for the meta-task which has not been allocated the execution satellite, until all meta-tasks in the meta-task set are allocated the execution satellite.

[0055] Based on the same technical concept as the foregoing technical solutions, implementation modes and examples, see Figure 3 which shows a composition of a giant heterogeneous constellation system 30 provided by an embodiment of the application, which can include: a first satellite 301, a first satellite network 302 corresponding to the first satellite in the heterogeneous constellation, and a second satellite network 304 corresponding to each satellite in the first satellite network; wherein the first satellite network 302 includes at least one satellite of each load type in the heterogeneous constellation; the second satellite network 304 includes satellites with the same load type as the second satellite 303 in the heterogeneous constellation;

[0056] The first satellite 301 is configured to send task commission information to the second satellite 303 in the first satellite network 302 corresponding to the first satellite 301 and meeting the task type and demand load after receiving the original task set information.

[0057] The second satellite 303 is configured to construct a second satellite network 304 by the satellites in the heterogeneous constellation with the same load category based on the load category of the second satellite 303, perform task decomposition according to the task commission information to obtain a meta task set, and determine a task execution satellite for the meta task set in the second satellite network 304 based on a set contract bidding strategy, so that the task execution satellite executes the original task set.

[0058] In some examples, the second satellite 303 is configured to:

[0059] send bidding information to all satellites in the second satellite network 304 according to each meta task in the meta task set, so that each satellite in the second satellite network 304 performs task planning and task execution capability evaluation for each meta task after receiving the bidding information;

[0060] and evaluate the received task execution capability evaluation results in the second satellite network 304 as bidding information, and determine the execution satellite corresponding to each meta task from the second satellite network 304.

[0061] It can be understood that when the technical solution of the embodiment can be realized in the form of a software function module and is not sold or used as an independent product, it can be stored in a computer readable storage medium. Based on this understanding, the technical solution of the embodiment essentially or the part that contributes to the prior art or the whole or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to execute all or part of the steps of the method described in the embodiment. The foregoing storage medium includes a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various program code storage media.

[0062] Therefore, the embodiment provides a computer storage medium, which stores an autonomous planning program for a mega heterogeneous constellation observation task, and the autonomous planning program for the mega heterogeneous constellation observation task, when executed by at least one processor, implements the autonomous planning method steps for the mega heterogeneous constellation observation task in the foregoing technical solutions.

[0063] It can be understood that the exemplary technical solutions of the mega heterogeneous constellation system 30 and the foregoing autonomous planning method for the mega heterogeneous constellation observation task belong to the same concept, and therefore, details of the technical solutions of the mega heterogeneous constellation system 30 that are not described in detail can be referred to the description of the foregoing autonomous planning method for the mega heterogeneous constellation observation task. The embodiment of the present application does not make redundant description here.

[0064] It should be noted that the technical solutions disclosed in the embodiments of the present application can be combined arbitrarily without conflict.

[0065] The above describes only specific embodiments of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of changes or replacements within the technical range disclosed in the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. An autonomous planning method for observation missions of giant heterogeneous constellations, characterized in that, The method is applied to a heterogeneous constellation, and the method includes: After receiving the original task set information, the first satellite in the heterogeneous constellation parses the original task set information to obtain the task type of the original task set and the type of payload required to complete the original task set, and sends the task delegation information to the second satellite in its corresponding first satellite network that matches the task type and the type of payload; wherein, the first satellite network includes at least one satellite of each type of payload in the heterogeneous constellation. The second satellite in the first satellite network that receives the mission assignment information constructs a second satellite network based on its own payload type, using satellites with the same payload type in the heterogeneous constellation. The second satellite decomposes the task according to the task delegation information to obtain a meta-task set; wherein each meta-task in the meta-task set can be completed by a single satellite in a single execution. The second satellite determines the task execution satellite for the original task set in the second satellite network based on the set contract bidding strategy, so that the task execution satellite executes the original task set.

2. The method according to claim 1, characterized in that, After receiving the original mission set information from the ground station, the first satellite in the heterogeneous constellation sends mission delegation information to satellites in its corresponding first satellite network that match the mission type and required payload, including: When the first satellite is visible relative to the ground station, it receives the original mission set information uploaded by the ground station; The first satellite obtains the mission types of the original mission set and the types of payloads required to complete the original mission set by parsing the original mission set information; The first satellite selects a second satellite from the first satellite network that matches the mission type of the original mission set and the types of payloads required to complete the original mission set; The first satellite sends mission delegation information to the second satellite.

3. The method according to claim 1, characterized in that, The second satellite decomposes the tasks based on the task assignment information to obtain a meta-task set, including: The second satellite decomposes long-term or periodic tasks in the original task set into short-term task sets within the time domain; The second satellite decomposes the regional observation tasks in the space domain from the original task set into a set of point target tasks or a set of tasks that can be covered by a single imaging operation. The second satellite decomposes the multi-payload, multi-dimensional collaborative tasks in the original mission set into a single-payload, single-dimensional mission set; The second satellite obtains the meta-task set based on the short-term task set, the point target task set, the task set that can be covered by a single imaging, and the single-payload single-dimensional task set.

4. The method according to claim 1, characterized in that, The second satellite, based on a pre-defined contract bidding strategy, determines task execution satellites for the original task set within the second satellite network, enabling these task execution satellites to perform the original task set, including: The second satellite sends bidding information to all satellites in the second satellite network according to each meta-task in the meta-task set; After receiving the tender information, each satellite in the second satellite network performs task planning for each meta-task and conducts a task execution capability assessment. The second satellite uses the mission execution capability assessment results received from the second satellite network as bidding information for bid evaluation, and determines the execution satellite corresponding to each meta-mission from the second satellite network.

5. The method according to claim 4, characterized in that, After the second satellite transmits the bidding information, the method further includes: The second satellite is set to evaluate the duration; The second satellite will use the task execution capability assessment results received within the assessment period as valid bidding information.

6. The method according to claim 4, characterized in that, Upon receiving the tender information, each satellite in the second satellite network performs mission planning for each meta-task and conducts a mission execution capability assessment, including: After receiving the bidding information, each satellite in the second satellite network performs single-satellite mission planning for each meta-task based on its own processing capabilities, and feeds back the single-satellite mission planning results of each meta-task as mission execution capability evaluation results to the second satellite.

7. The method according to claim 4, characterized in that, The second satellite uses the mission execution capability assessment results received from the second satellite network as bidding information for bid evaluation, and determines the execution satellite corresponding to each meta-mission from the second satellite network, including: The second satellite evaluates the received mission execution capability results using a greedy search algorithm, thereby determining the corresponding execution satellite for each meta-mission.

8. A giant heterogeneous constellation system, characterized in that, The giant heterogeneous constellation system includes: a first satellite, a first satellite network in the heterogeneous constellation corresponding to the first satellite, and a second satellite network corresponding to each satellite in the first satellite network; wherein, the first satellite network includes at least one satellite of each payload type in the heterogeneous constellation; and the second satellite network includes satellites in the heterogeneous constellation of the same payload type as the second satellite. The first satellite is configured to, after receiving the original task set information, parse the original task set information to obtain the task type of the original task set and the payload type required to complete the original task set, and send task delegation information to the second satellite in its corresponding first satellite network that matches the task type and the payload type. The second satellite is configured to construct a second satellite network based on its own payload type, connecting satellites with the same payload type in the heterogeneous constellation; and to perform task decomposition according to the task assignment information to obtain a meta-task set; and to determine task execution satellites for the meta-task set in the second satellite network based on a set contract bidding strategy, so that the task execution satellites execute the original task set.

9. The system according to claim 8, characterized in that, The second satellite is configured as follows: According to each meta-task in the meta-task set, bidding information is sent to all satellites in the second satellite network, so that each satellite in the second satellite network can perform task planning and task execution capability assessment for each meta-task after receiving the bidding information. Furthermore, the task execution capability assessment results received from the second satellite network are used as bidding information for bid evaluation, and the execution satellite corresponding to each meta-task is determined from the second satellite network.

10. A computer storage medium, characterized in that, The computer storage medium stores an autonomous planning program for a giant heterogeneous constellation observation mission, which, when executed by at least one processor, implements the steps of the autonomous planning method for a giant heterogeneous constellation observation mission as described in any one of claims 1 to 7.

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