A contract network-based distributed constellation task cooperative planning method and system

Abstract

The application provides a distributed star cluster task cooperative planning method based on a contract network, which comprises the following steps: a task receiving star receives a guide task; the task receiving star calculates the task attributes of each star according to a task management star selection rule; a task management star determines the content of a published task contract; after receiving the task, a task execution star feeds back the task information according to the task executability; the task management star collects all the task feedback information, selects the task information with the highest cooperative benefit, and publishes a task execution command to the selected execution star to complete the task contract signing; after receiving the execution command, the selected task execution star executes the task according to the requirements of the prepared contract and feeds back the execution result to the task management star in real time; the task management star receives the execution states of all the execution stars, fuses the target single-star observation information fed back by the execution stars, generates target comprehensive situation information, and sends the target comprehensive situation information to a situation information user.

Description

Technical Field

[0001] This invention relates to the field of satellite observation, specifically to a method and system for collaborative planning of multiple tasks for distributed remote sensing satellite constellations for Earth and space observation. Background Technology

[0002] Driven by applications such as multi-mission space exploration and multi-target observation of Earth and space, networked collaborative mission modes among satellites and other spacecraft are becoming a trend. Existing top-level mission collaborative planning and organization strategies mainly include centralized and distributed strategies. Centralized planning systems primarily consist of a central planning node and multiple execution nodes. The central planning node mainly completes the mission planning for the entire cluster system, receives and integrates information from each execution node, and then generates mission instructions for each execution node, which then completes the specified tasks according to the instructions. Limited by the centralized framework, it requires high bandwidth communication links, and the planning system's response to dynamic environments is slow, which reduces the overall efficiency of the mission planning system. Distributed strategies employing MAS (Multi-Agent System) technology, through autonomous collaboration among agents, complete task allocation, provide rapid planning services for mission requirements, and possess high scalability and robustness. Compared to traditional centralized constellation organization, distributed constellations offer advantages such as flexible operation, high redundancy, and high resource utilization efficiency, completing tasks such as target information acquisition and observation through collaborative work.

[0003] The distributed and highly dynamic nature of decision-making problems in distributed satellite systems presents new challenges to traditional satellite planning and scheduling methods. Traditional centralized control methods typically involve a ground-based planning system generating a highly detailed long-term plan that meets all requirements. This often involves complex model solving and consumes significant time. Furthermore, after plan generation, it must be uploaded to the satellite for execution within a suitable time window, requiring frequent space-to-ground interactions. In dynamic situations, this often fails to allow for timely responses to new demands or unexpected events. Therefore, it is essential to research new decision-making methods and mechanisms to meet the needs of decision-making problems in distributed satellite systems. Summary of the Invention

[0004] In view of this, the present invention provides a distributed constellation mission collaborative planning method based on contract networks, which is used to clarify the hierarchical relationship of mission negotiation and effectively solve the problem of constellation planning negotiation strategy. The method includes the following steps:

[0005] The mission receiver satellite receives the guiding mission;

[0006] The task receiving star calculates the task attributes of each star according to the task management star selection rules, selects the management star for the task, and sends the received task information to the selected task management star.

[0007] The task management star determines the content of the published task contract, which includes: the target measurement point location, velocity, initial priority, and corresponding measurement time;

[0008] After receiving a task, the task execution star will provide feedback on task information based on the task's executability, including the task's executable time period.

[0009] The task management star collects all task feedback information, selects the task information with the highest collaborative benefits, and issues task execution commands to the selected execution stars to complete the task contract signing;

[0010] After receiving the execution order, the selected task execution star will execute the task according to the requirements of the prepared contract and provide real-time feedback on the execution results to the task management star.

[0011] The mission management satellite receives the execution status of all execution satellites, integrates the target single-satellite observation information fed back by each execution satellite, generates comprehensive target situation information, and sends it to the situation information user.

[0012] Specifically, the selection rules include: priority of observation time, priority of observation duration, and priority of proximity to the target; let S be the set of low-Earth orbit satellite IDs, and let m be the time from when the i-th low-Earth orbit satellite receives the mission guidance information until it can observe the target. i The total observation time of the i-th low-orbit satellite for this target is d. i The distance between the i-th low-orbit satellite and the target in three-dimensional space is r. i , |·| represents the cardinality of the set; the priority selection rule for the observation time includes: the necessary and sufficient condition for selecting the i-th star as the mission management star is:

[0013]

[0014] The selection rule prioritizing observation duration includes: if The necessary and sufficient condition for selecting the i-th star as the task management star is:

[0015]

[0016] here

[0017] The selection rule that prioritizes targets that are closer includes: if... The necessary and sufficient condition for selecting the i-th star as the task management star is:

[0018]

[0019] here

[0020] Specifically, the mission management satellite determines the content of the issued mission contract, including: if the mission contract is being issued for the first time, the mission management satellite, upon receiving the mission, analyzes the satellites visible to the mission and distributes the mission to the visible satellites; if the mission contract is not being issued for the first time, during mission execution, the management satellite monitors the execution status in real time and reissues the mission information as needed, including:

[0021] The management satellite determines whether the number of observation satellites for the target meets the requirements for stereo observation. If not, a new round of bidding process is initiated until the number of target observation satellites meets the requirements.

[0022] If the observed target is a target being observed by the two satellites, the priority decreases linearly over time, and no guidance information needs to be sent.

[0023] If the observation target is a target observed by a single satellite, the priority remains unchanged over time, and guidance information needs to be sent.

[0024] If the observation target is a target without satellite observation, the priority increases linearly with time, and guidance information needs to be sent.

[0025] If the trackable time of the management star is less than the remaining time t remain It is necessary to generate guidance information to renew or re-sign the contract.

[0026] Specifically, after receiving a task, the executable star, based on the task's executability, feeds back task information including: analyzing the task's executability and feeding back to the management star whether it is executable; if executable, it replies with the start and end times of the executable task. If there is any default task information, this default task information must also be fed back to the task management star. The task response rules specifically include:

[0027] The execution star calculates the executable benefits of the currently executing task and all received tasks; sorts the execution benefits and selects the task sequence with the highest executable benefits that do not conflict with each other; if there are tasks that are currently being executed and the newly bid task conflicts with the currently executing task, the penalty caused by the breach is subtracted after the gain of each guiding information; after comprehensively considering the gain and penalty information, if the overall gain obtained by the first ranked target is still positive, a bidding information is issued; otherwise, the bidding for this round is abandoned.

[0028] Specifically, the mission management satellite collects all mission feedback information and selects the contract with the highest synergistic benefits from the contract compilation in the feedback. This includes: if the current mission is a satellite-free observation, it traverses the response list and selects the binary combination with the best observation geometric precision factor (GDOP), the longest observable duration, and the shortest acquisition time, and then assigns the contract information.

[0029] If the current task is a single-satellite observation, the response list is traversed, the single-satellite with the best geometrical precision factor (GDOP) for forming an observation with existing observations is selected, and contract information is assigned.

[0030] This invention also proposes a distributed constellation mission collaborative planning system based on a contract network. This system includes mission receiving stars, mission management stars, and mission execution stars, characterized in that:

[0031] The mission receiving satellite receives and guides the mission.

[0032] The task receiving star calculates the task attributes of each star according to the task management star selection rules, selects the management star for the task, and sends the received task information to the selected management star.

[0033] The task management star determines the content of the published task contract, which includes: the target measurement point location, velocity, initial priority, and corresponding measurement time;

[0034] After receiving a task, the task execution star feeds back task information based on the task's executability, including the task's executable time period.

[0035] The task management star collects all task feedback information, selects the task information with the highest collaborative benefits, and issues task execution commands to the selected execution stars to complete the task contract signing;

[0036] After receiving the execution order, the selected task execution star will execute the task according to the requirements of the prepared contract and provide real-time feedback on the execution results to the task management star.

[0037] The mission management satellite receives the execution status of all execution satellites, integrates the target single-satellite observation information fed back by each execution satellite, generates comprehensive target situation information, and sends it to the situation information user.

[0038] Specifically, the selection rules include: priority of observation time, priority of observation duration, and priority of proximity to the target; let S be the set of low-Earth orbit satellite IDs, and let m be the time from when the i-th low-Earth orbit satellite receives the mission guidance information until it can observe the target. i The total observation time of the i-th low-orbit satellite for this target is d. i The distance between the i-th low-orbit satellite and the target in three-dimensional space is r. i , |·| represents the cardinality of the set; the priority selection rule for the observation time includes: the necessary and sufficient condition for selecting the i-th star as the mission management star is:

[0039]

[0040] The selection rule prioritizing observation duration includes: if The necessary and sufficient condition for selecting the i-th star as the task management star is:

[0041]

[0042] here

[0043] The selection rule that prioritizes targets that are closer includes: if... The necessary and sufficient condition for selecting the i-th star as the task management star is:

[0044]

[0045] here

[0046] Specifically, the mission management satellite determines the content of the issued mission contract, including: if the mission contract is being issued for the first time, the mission management satellite, upon receiving the mission, analyzes the satellites visible to the mission and distributes the mission to the visible satellites; if the mission contract is not being issued for the first time, during mission execution, the management satellite monitors the execution status in real time and reissues the mission information as needed, including:

[0047] The management satellite determines whether the number of observation satellites for the target meets the requirements for stereo observation. If not, a new round of bidding process is initiated until the number of target observation satellites meets the requirements.

[0048] If the observed target is a target being observed by the two satellites, the priority decreases linearly over time, and no guidance information needs to be sent.

[0049] If the observation target is a target observed by a single satellite, the priority remains unchanged over time, and guidance information needs to be sent.

[0050] If the observation target is a target without satellite observation, the priority increases linearly with time, and guidance information needs to be sent.

[0051] If the trackable time of the management star is less than the remaining time t remain It is necessary to generate guidance information to renew or re-sign the contract.

[0052] Specifically, after receiving a task, the executable star, based on the task's executability, feeds back task information including: analyzing the task's executability and feeding back to the management star whether it is executable; if executable, it replies with the start and end times of the executable task. If there is any default task information, this default task information must also be fed back to the task management star. The task response rules specifically include:

[0053] The execution star calculates the executable benefits of the currently executing task and all received tasks; sorts the execution benefits and selects the task sequence with the highest executable benefits that do not conflict with each other; if there are tasks that are currently being executed and the newly bid task conflicts with the currently executing task, the penalty caused by the breach is subtracted after the gain of each guiding information; after comprehensively considering the gain and penalty information, if the overall gain obtained by the first ranked target is still positive, a bidding information is issued; otherwise, the bidding for this round is abandoned.

[0054] Specifically, the mission management satellite collects all mission feedback information and selects the contract with the highest synergistic benefits from the contract compilation in the feedback. This includes: if the current mission is a satellite-free observation, it traverses the response list and selects the binary combination with the best observation geometric precision factor (GDOP), the longest observable duration, and the shortest acquisition time, and then assigns the contract information.

[0055] If the current task is a single-satellite observation, the response list is traversed, the single-satellite with the best geometrical precision factor (GDOP) for forming an observation with existing observations is selected, and contract information is assigned.

[0056] Beneficial effects:

[0057] (1) This invention proposes a distributed dynamic collaborative framework in conjunction with the Contract Network protocol, which clarifies the hierarchical relationship of task negotiation and effectively solves the problem of constellation planning negotiation strategy.

[0058] (2) The present invention proposes an initial task allocation principle and method based on the collaborative framework, which can realize rapid responsibility positioning for large-scale dynamic tasks;

[0059] (3) The present invention designs a multi-round negotiation method and interactive information for task decomposition contract issuance, response, selection and execution, so as to quickly and dynamically decompose and allocate inter-satellite collaborative tasks;

[0060] (4) In this invention, the benefits of the currently executing task and all received tasks are calculated; the execution benefits are sorted, and the sequence of tasks with the highest execution benefits and no conflict is selected; the losses caused by breach of contract are fully considered to maximize the observed benefits. Attached Figure Description

[0061] Figure 1 This is a schematic diagram illustrating the distributed star cluster architecture and role positioning adopted in this invention;

[0062] Figure 2 This is a schematic diagram illustrating the changing roles of satellites in the distributed constellation mission coordination in this invention;

[0063] Figure 3 This is a schematic diagram illustrating the roles of distributed constellation multi-mission collaborative satellites in this invention;

[0064] Figure 4This is a schematic diagram of the distributed constellation mission coordination process in this invention;

[0065] Figure 5 This is a schematic diagram of the information flow for distributed constellation mission collaboration in this invention. Detailed Implementation

[0066] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0067] The distributed task collaboration scenarios targeted by this invention are applicable to, but not limited to, satellite constellations organized in a distributed architecture, such as high-orbit constellations, medium-orbit constellations, low-orbit constellations, and mixed constellations of high, medium, low and medium orbits and ground-based constellations. The types of tasks targeted include, but are not limited to, ground-to-air tasks such as target detection, target tracking, and target recognition, or mixed tasks of multiple types.

[0068] The distributed constellation architecture and role positioning adopted in this invention are illustrated using Samsung as an example. Figure 1 As shown. All satellites in the constellation are equal in status, sharing the same information, handling the same matters, and making the same decisions.

[0069] like Figure 2 , Figure 3 As shown, the roles of satellites in a distributed constellation system are dynamically assigned based on specific missions. For each specific mission, there is one satellite in the constellation acting as a mission receiver, at least one satellite acting as a mission manager, and at least two satellites acting as mission executers. The mission receiver, mission manager, and mission executers may differ for different missions; the same satellite may play the same mission role in multiple missions or different mission roles in multiple missions.

[0070] (1) Mission receiver star

[0071] The satellite that initially receives the mission is the mission receiving satellite, responsible for selecting the mission management satellite according to the management satellite rules based on the mission characteristics, and distributing the mission to the mission management satellite. The assigned mission management satellite can be another satellite in the constellation or the mission receiving satellite itself.

[0072] (2) Task Management Star

[0073] The satellite that receives the management task is the mission management satellite. It is responsible for managing the status of the target during observation and the allocation of execution satellites, which is determined by comprehensively considering various factors such as guidance information, mission execution status, and the relative relationship between the target and the satellite.

[0074] The management star can serve as an execution star or management star for other tasks while managing objectives, working together with other stars to complete the execution of the objective tasks.

[0075] During mission execution, the mission management satellite can also transfer mission management functions to other satellites based on the mission execution status, i.e., replace the mission management satellite.

[0076] (3) Task Execution Star

[0077] The responsible unit is to receive and manage satellite mission contracts, select mission content based on its own resources, and report back to the mission management satellite. Upon receiving the mission management satellite's execution requirements, the unit will complete the mission execution. Specific tasks such as target observation and tracking will be determined based on the bidding process for the management satellite and low-Earth orbit satellites.

[0078] While performing its own tasks, the executor star often simultaneously acts as the executor or manager of other tasks, working together with other stars to complete the execution of the target task.

[0079] This invention provides a distributed constellation mission collaborative planning method based on contract networks, employing the following technical framework and information flow: Figure 4 , Figure 5 As shown, where Figure 5 The core content of the information flow between nodes is: ① target information (position, velocity, priority, etc.); ② target information (position, velocity, priority, etc.); ③ target information (position, velocity, priority, etc.); ④ task start and end times; ⑤ task start and end times; ⑥ target single-satellite observation information.

[0080] The method includes the following steps:

[0081] Step 1: The mission receiver satellite receives the guidance mission;

[0082] Once any satellite within the constellation receives mission information, that receiving satellite becomes the mission receiving satellite for that mission. Step 2: The mission receiving satellite calculates the mission attributes of each satellite according to the mission management satellite selection rules, selects the management satellite for that mission, and sends the received mission information to the selected mission management satellite.

[0083] The initial management satellite calculates the mission attributes of each satellite according to the task management satellite selection method, selects the management satellite for that mission, and sends the received mission information to the selected management satellite. In this embodiment, the task management satellite selection rules are: priority is given to observation time; priority is given to longer target observation time; priority is given to closer target.

[0084] (1) Priority of observation time

[0085] Let S be the set of low-Earth orbit (LEO) satellite IDs, and let m be the time from when the i-th LEO satellite receives the mission guidance information until it can observe the target. i The total observation time of the i-th low-orbit satellite for this target is d. iThe distance between the i-th low-orbit satellite and the target in three-dimensional space is r. i Let |·| represent the cardinality of the set. Then, the necessary and sufficient condition for selecting the i-th star as the task management star is:

[0086]

[0087] (2) Prioritize observation duration

[0088] like The necessary and sufficient condition for selecting the i-th star as the task management star is:

[0089]

[0090] here

[0091] (3) Prioritize those closer to the target

[0092] like The necessary and sufficient condition for selecting the i-th star as the task management star is:

[0093]

[0094] here

[0095] Step 3: The task management star determines the content of the published task contract, which includes: the target measurement point location, velocity, initial priority and corresponding measurement time;

[0096] (1) Initial task release

[0097] After receiving a mission, the mission management satellite analyzes the satellites visible to the mission and distributes the mission to the visible satellites (one or more, including the management satellite itself).

[0098] The distributed task information includes: the target measurement point location, velocity, initial priority, and corresponding measurement time from the received external guidance information.

[0099] (2) Non-first release of tasks

[0100] During the task execution, the management system monitors the execution status in real time and re-releases the task information as needed to start a new round of contract drafting, signing, and execution.

[0101] The method for re-releasing is as follows:

[0102] 1) The management determines whether the number of observation satellites for the target meets the requirements for stereo observation. If not, a new round of bidding process is initiated until the number of target observation satellites meets the requirements.

[0103] 2) Targets observed by the two satellites have a linearly decreasing priority over time and do not require the transmission of guidance information;

[0104] 3) Targets observed by a single satellite have a constant priority over time and require the transmission of guidance information;

[0105] 4) For targets without satellite observation, the priority increases linearly over time, and guidance information needs to be sent.

[0106] 5) Management star tracking time < t remain (t remain (Indicates the remaining time, such as 10 seconds), prompting the generation of guidance information to renew or re-sign the contract.

[0107] The task information distributed includes: the latest measured location, velocity, priority, and corresponding measured time of the target.

[0108] Step 4: Executable Star Contract Bidding

[0109] After receiving a task, the task execution star provides feedback on task information based on task feasibility, including the task's executable time period. After receiving a task, the executable star analyzes task feasibility and provides feedback to the management star on whether it is executable. If it is executable, it replies with the execution time period (for drafting a bidding contract), thus completing the task response.

[0110] The contract information includes: the start and end times of the mission's executable period.

[0111] The task response rules are as follows:

[0112] (1) Execute the star to calculate the executable benefits of the currently executing task and all received tasks;

[0113] (2) Rank the execution benefits and select the sequence of tasks that have the highest execution benefits and do not conflict with each other;

[0114] (3) If there is an ongoing task and the newly bid task conflicts with the ongoing task, the penalty for breach of contract shall be subtracted after the gain of each guidance message;

[0115] (4) After comprehensively considering the gain and loss information, if the overall gain obtained by the first ranked target is still positive, then the bidding information is issued; otherwise, the bidding in this round is abandoned.

[0116] (5) The executable task feedback tracking starts with executable information and also feeds back the information of the defaulted task to the task management star.

[0117] The formula for calculating contract revenue is explained below:

[0118] Suppose a satellite receives a set of targets S to be bid on at a certain time t0, and suppose that for any target s∈S, the time interval in this bidding process is d. s The start time is a s The end time is b s When bidding for a target, the priority is p. s If the set of valid bidding contracts for the satellite at this moment is C, then set C satisfies

[0119]

[0120] right Bidding C i The gain G(C) brought to this star i The following equation must be satisfied:

[0121]

[0122] For contract C that is currently being executed i Its default loss D(C) i The following equation must be satisfied:

[0123]

[0124] The contract for this round of bidding for the satellite is C. m The necessary and sufficient condition is:

[0125]

[0126] In this embodiment, the length of the mission sequence is limited to 1, meaning that each satellite selects only the target that maximizes its benefit at the current bidding moment for tracking.

[0127] Step 5: Management Star signs the contract

[0128] The task management star collects all task feedback information, selects the task information with the highest collaborative benefits, and issues task execution commands to the selected execution stars to complete the task contract signing;

[0129] The task management star collects all task feedback information, selects the contract with the highest collaborative benefits from the contract drafting feedback, and issues a task execution command to the execution star of the selected contract to complete the contract signing.

[0130] The contract selection method is as follows:

[0131] (1) If there are no stars to observe in the current mission, traverse the response list, select the binary combination with the best geometric precision factor (GDOP), the longest observable duration, and the shortest capture time, and assign contract information.

[0132] (2) If the current mission is a single-satellite observation, traverse the response list, select the single-satellite with the best geometric precision factor (GDOP) to form an observation with the existing observation satellites, and assign contract information.

[0133] The formula for the Management Star Contract Signing Confirmation Function is described as follows:

[0134] Taking the current mission's observation without satellites as an example, suppose a certain management satellite receives a set M of bidding information from a low-orbit constellation regarding a certain target, and the starting time of the target in this bidding process is a. t The end time is b t For any bidding information m∈M, the initial observation time of this bidding information is a. m The end time is b m The necessary and sufficient condition for selecting the i-th satellite and the j-th satellite for target dual-satellite observation is that...

[0135]

[0136] in This indicates the angle between the observations of the target by the two satellites.

[0137] Step 6: Execute the contract for the task execution star.

[0138] After receiving the execution order, the selected execution star will carry out the task according to the requirements of the draft contract and provide real-time feedback on the execution results to the task management star.

[0139] The feedback execution information includes: the observed target information.

[0140] Step 7: Task Management Star Integration Information

[0141] The management satellite receives the execution status of all execution satellites, integrates the target single-satellite observation information fed back by each execution satellite, generates comprehensive target situation information, and sends it to the situation information user.

[0142] This invention also proposes a distributed constellation mission collaborative planning system based on a contract network. This system includes mission receiving stars, mission management stars, and mission execution stars, specifically comprising:

[0143] The mission receiving satellite receives and guides the mission.

[0144] The task receiving star calculates the task attributes of each star according to the task management star selection rules, selects the management star for the task, and sends the received task information to the selected management star.

[0145] The task management star determines the content of the published task contract, which includes: the target measurement point location, velocity, initial priority, and corresponding measurement time;

[0146] After receiving a task, the task execution star feeds back task information based on the task's executability, including the task's executable time period.

[0147] The task management star collects all task feedback information, selects the task information with the highest collaborative benefits, and issues task execution commands to the selected execution stars to complete the task contract signing;

[0148] After receiving the execution order, the selected task execution star will execute the task according to the requirements of the prepared contract and provide real-time feedback on the execution results to the task management star.

[0149] The mission management satellite receives the execution status of all execution satellites, integrates the target single-satellite observation information fed back by each execution satellite, generates comprehensive target situation information, and sends it to the situation information user.

[0150] The features in this system correspond one-to-one with the features in the previous method embodiment, so they will not be described again.

[0151] In summary, the above are merely preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

[0152] It will be apparent to those skilled in the art that the embodiments of the present invention are not limited to the details of the exemplary embodiments described above, and that the embodiments of the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the embodiments of the present invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the embodiments of the present invention is defined by the appended claims rather than the foregoing description. Therefore, all variations falling within the meaning and scope of equivalents of the claims are intended to be encompassed within the embodiments of the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims. Furthermore, it is clear that the word "comprising" does not exclude other units or steps, and the singular does not exclude the plural. Multiple units, modules, or devices recited in the system, apparatus, or terminal claims may also be implemented by the same unit, module, or device through software or hardware. The terms "first," "second," etc., are used to indicate names and do not indicate any particular order.

[0153] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the embodiments of the present invention and are not intended to limit them. Although the embodiments of the present invention have been described in detail with reference to the above preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions to the technical solutions of the embodiments of the present invention should not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A distributed constellation mission collaborative planning method based on contract networks, characterized in that, The method includes the following steps: The mission receiver satellite receives the guiding mission; The task receiving star calculates the task attributes of each star according to the task management star selection rules, selects the management star for the task, and sends the received task information to the selected task management star. The selection rules include: priority of observation time, priority of observation duration, and priority of proximity to the target; The task management star determines the content of the published task contract, which includes: the target measurement point location, velocity, initial priority, and corresponding measurement time; After receiving a task, the task execution star provides feedback on task information based on its executability. This information includes the task's executable time period. Specifically, upon receiving a task, the executable star analyzes its executability and reports back to the management star whether it is executable. If executable, it replies with the start and end times of the executable period. If there is any defaulted task information, this information must also be reported back to the task management star. The task response rules specifically include: The execution star calculates the executable benefits of the currently executing task and all received tasks; it sorts the execution benefits and selects the task sequence with the highest executable benefits that do not conflict with each other; if there are tasks that are currently being executed and the newly bid task conflicts with the currently executing task, the penalty caused by the default is subtracted after the gain of each guiding information; after comprehensively considering the gain and penalty information, if the overall gain obtained by the first ranked target is still positive, a bidding information is issued; otherwise, the bidding for this round is abandoned. The task management star collects all task feedback information, selects the task information with the highest collaborative benefits, and issues task execution commands to the selected execution stars to complete the task contract signing; specifically: If the current task is a no-star observation, then iterate through the response list, select the binary star combination with the best observation geometric precision factor (GDOP), the longest observable duration, and the shortest capture time, and assign contract information. If the current task is a single-satellite observation, then iterate through the response list, select the single-satellite with the best geometric precision factor (GDOP) to form an observation with the existing observations, and assign contract information. After receiving the execution order, the selected task execution star will execute the task according to the requirements of the prepared contract and provide real-time feedback on the execution results to the task management star. The mission management satellite receives the execution status of all execution satellites, integrates the target single-satellite observation information fed back by each execution satellite, generates comprehensive target situation information, and sends it to the situation information user.

2. The distributed constellation mission collaborative planning method based on contract networks as described in claim 1, characterized in that, Let S be the set of low-Earth orbit (LEO) satellite IDs, and let be the time from when the i-th LEO satellite receives the mission guidance information until it can observe the target. The total observation time of the i-th low-orbit satellite can be for this target is The distance between the i-th low-orbit satellite and the target in three-dimensional space is , The cardinality of a set; The priority selection rule for observation times includes: the necessary and sufficient condition for selecting the i-th star as the mission management star is: ； The selection rule prioritizing observation duration includes: if Then the necessary and sufficient condition for selecting the i-th star as the task management star is: here ; The selection rule that prioritizes targets that are closer includes: if... Then the necessary and sufficient condition for selecting the i-th star as the task management star is: here .

3. The distributed constellation mission collaborative planning method based on contract networks as described in claim 1, characterized in that, The mission management satellite determines the content of the published mission contract, specifically including: if the mission contract is being published for the first time, the mission management satellite, upon receiving the mission, analyzes the satellites visible to the mission and distributes the mission to the visible satellites; if the mission contract is not being published for the first time, during mission execution, the management satellite monitors the execution status in real time and republishes the mission information as needed, specifically including: The management satellite determines whether the number of observation satellites for the target meets the requirements for stereo observation. If not, a new round of bidding process is initiated until the number of observation satellites for the target meets the requirements. If the target being observed is a target being observed by both satellites, the priority decreases linearly over time, and no guidance information needs to be sent. If the observation target is a target observed by a single satellite, the priority remains unchanged over time, and guidance information needs to be sent. If the observation target is a target without satellite observation, the priority increases linearly with time, and guidance information needs to be sent. If the trackable time of the management star is less than the remaining time It is necessary to generate guidance information to renew or re-sign the contract.

4. A distributed constellation mission collaborative planning system based on a contract network, employing the method described in claim 1, comprising mission receiving stars, mission management stars, and mission execution stars, characterized in that: The mission receiving satellite receives and guides the mission. The task receiving star calculates the task attributes of each star according to the task management star selection rules, selects the management star for the task, and sends the received task information to the selected management star. The task management star determines the content of the published task contract, which includes: the target measurement point location, velocity, initial priority, and corresponding measurement time; After receiving a task, the task execution star feeds back task information based on the task's executability, including the task's executable time period. The task management star collects all task feedback information, selects the task information with the highest collaborative benefits, and issues task execution commands to the selected execution stars to complete the task contract signing; After receiving the execution order, the selected task execution star will execute the task according to the requirements of the prepared contract and provide real-time feedback on the execution results to the task management star. The mission management satellite receives the execution status of all execution satellites, integrates the target single-satellite observation information fed back by each execution satellite, generates comprehensive target situation information, and sends it to the situation information user.

5. The distributed constellation mission collaborative planning system as described in claim 4, characterized in that, The selection rules include: priority based on observation time, priority based on observation duration, and priority based on proximity to the target; let S be the set of low-Earth orbit satellite IDs, and let the time from when the i-th low-Earth orbit satellite receives the mission guidance information to when it can observe the target be denoted as . The total observation time of the i-th low-orbit satellite can be for this target is The distance between the i-th low-orbit satellite and the target in three-dimensional space is , The cardinality of the set is used; the priority selection rule for observation times includes: the necessary and sufficient condition for selecting the i-th star as the mission management star is: ； The selection rule prioritizing observation duration includes: if Then the necessary and sufficient condition for selecting the i-th star as the task management star is: here ; The selection rule that prioritizes targets that are closer includes: if... Then the necessary and sufficient condition for selecting the i-th star as the task management star is: here .

6. The distributed constellation mission collaborative planning system as described in claim 4, characterized in that, The mission management satellite determines the content of the published mission contract, specifically including: if the mission contract is being published for the first time, the mission management satellite, upon receiving the mission, analyzes the satellites visible to the mission and distributes the mission to the visible satellites; if the mission contract is not being published for the first time, during mission execution, the management satellite monitors the execution status in real time and republishes the mission information as needed, specifically including: The management satellite determines whether the number of observation satellites for the target meets the requirements for stereo observation. If not, a new round of bidding process is initiated until the number of target observation satellites meets the requirements. If the target being observed is a target being observed by both satellites, the priority decreases linearly over time, and no guidance information needs to be sent. If the observation target is a target observed by a single satellite, the priority remains unchanged over time, and guidance information needs to be sent. If the observation target is a target without satellite observation, the priority increases linearly with time, and guidance information needs to be sent. If the trackable time of the management star is less than the remaining time It is necessary to generate guidance information to renew or re-sign the contract.

7. The distributed constellation mission collaborative planning system as described in claim 4, characterized in that, After receiving a task, the executable star, based on the task's executability, provides feedback on task information, specifically including: analyzing the task's executability and reporting back to the management star whether it is executable; if executable, it replies with the start and end times of the executable task. If there is any default task information, this default task information must also be reported back to the task management star. The task response rules specifically include: The execution star calculates the executable benefits of the currently executing task and all received tasks; sorts the execution benefits and selects the task sequence with the highest executable benefits that do not conflict with each other; if there are tasks that are currently being executed and the newly bid task conflicts with the currently executing task, the penalty caused by the breach is subtracted after the gain of each guiding information; after comprehensively considering the gain and penalty information, if the overall gain obtained by the first ranked target is still positive, a bidding information is issued; otherwise, the bidding for this round is abandoned.

8. The distributed constellation mission collaborative planning system as described in any one of claims 4-7, characterized in that, The mission management star collects all mission feedback information and selects the contract with the highest synergistic benefits from the contract compilation in the feedback. Specifically, if the current mission is a no-satellite observation, the response list is traversed to select the binary star combination with the best observation geometric precision factor (GDOP), the longest observable duration, and the shortest acquisition time, and the contract information is assigned. If the current task is a single-satellite observation, then iterate through the response list, select the single-satellite with the best geometric precision factor (GDOP) to form an observation with the existing observations, and assign contract information.

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