A method for earth observation satellite mission evaluation and conflict resolution

Abstract

The application discloses a kind of earth observation satellite task evaluation and conflict resolution method, wherein the method includes the following steps: constellation is divided into multiple decision Agents and multiple member Agents;Establish a task allocation planning model;According to the task allocation planning model, decision Agent carries out bidding task competence evaluation in the current planning period, forms this period task allocation scheme;Member Agent judges whether the received task allocation scheme and the planned task exist conflict according to this period task allocation scheme and last period planned task, if yes, then carry out conflict resolution, otherwise, send bidding information to decision Agent, form this period planning task.The application realizes the matching calculation and conflict resolution of satellite multi-source task.

Description

Technical Field

[0001] This invention relates to a method for evaluating and resolving conflicts in Earth observation satellite missions, belonging to the field of satellite rendezvous observation technology. Background Technology

[0002] With the development of aerospace technology, the tasks that Earth observation satellite constellations need to handle are becoming increasingly complex, placing higher demands on the timeliness, continuity, and coordination of constellation observations. This requires multiple satellites and payloads to work together in terms of function, action, and timing. For example, in the event of sudden natural disasters such as floods and fires, wide-swath remote sensing satellites are needed to search large areas to identify disaster zones, quickly guide high-resolution detailed survey satellites to analyze the disaster situation, and guide multiple satellites to continuously observe and monitor the real-time development of the disaster. This process also requires the cooperation of different payloads such as optical, infrared, and SAR to cope with day and night conditions and various weather conditions.

[0003] Complex observation missions consist of multiple mission elements, essentially a continuous sequence of single collaborative observation missions. Autonomous planning for complex constellation observation missions requires determining the logical relationships and time sequences between individual satellite missions to ensure that each satellite's observation missions meet the constraints of complex mission relevance. Current methods employ a bidding-based mission planning approach, which essentially provides a bidding strategy based on single-satellite mission planning, with decision agents selecting bids according to this strategy. In a multi-decision agent parallel bidding model, conflicts may arise between the current period's bidding tasks and tasks already bid and assigned in previous periods when member agents are bidding. Traditional contract network bidding methods often rely on a first-come, first-served strategy for member satellite bidding; that is, member satellites calculate bids for bidding tasks after completing their assigned tasks. This strategy, in the event of task conflicts, only guarantees the execution of already planned tasks. In reality, if a higher-priority or urgent task arrives, member satellites should be allowed the ability to replace already planned tasks and plan and execute the higher-priority task. Summary of the Invention

[0004] The technical problem solved by this invention is to overcome the shortcomings of the prior art and provide a method for evaluating and resolving conflicts in Earth observation satellite missions. It designs an evaluation method for whether a bidding mission can be completed, avoids a large amount of optimization calculations, and effectively solves the problem of only being able to guarantee the execution of planned missions, making mission execution more reasonable and effective.

[0005] The objective of this invention is achieved through the following technical solutions:

[0006] This invention discloses a method for evaluating and resolving conflicts in Earth observation satellite missions, comprising:

[0007] The constellation is divided into multiple decision agents and multiple member agents;

[0008] Establish a task allocation planning model;

[0009] Based on the task allocation planning model, the decision agent conducts a competency assessment of the bidding tasks within the current planning cycle and forms a task allocation plan for this cycle.

[0010] Based on the task allocation plan for this period and the planned tasks for the previous period, the member agent determines whether there is a conflict between the received task allocation plan and the planned tasks. If so, conflict resolution is carried out; otherwise, bidding information is sent to the decision agent to form the planned tasks for this period.

[0011] In the above-mentioned task assessment and conflict resolution methods, the establishment of the task allocation planning model specifically refers to:

[0012] Γ=<Ta,S,G,CNF,TAC>

[0013] In the formula, Ta = {T} (1) ,T (2) ,...,T (n)} represents the set of complex observation tasks; CNF represents the collaborative patterns of member agents; S represents the set of currently available satellite resources, S = {S1, S2, ..., S} m}, where m is the total number of available satellites; G is the optimization objective to be achieved in planning complex constellation observation missions; TAC is the multi-agent negotiation mechanism, TAC =<BStrategy,TStrategy,TEvStrategy> Among them, BStrategy is the bidding strategy, TStrategy is the tendering strategy, and TEvStrategy is the bid evaluation strategy.

[0014] The i-th satellite resource in the currently available satellite resource set S is represented as:

[0015] S i ={HLH Si CT Si CW Si ,CR Si ,CL Si Orb Si Orie Si SSR Si POW Si}

[0016] Among them, HLH Si For satellite S i Health level "0 or 1", CT scan Si CW Si ,CR Si ,CL Si Satellite S iThe payload type, detection swath width, imaging resolution, and detection distance parameters, Orb Si For satellite S i Orie's orbit Si For satellite S i The set of parameters for pointing adjustment capability, in, Δθ Si ,Δψ Si Satellite S i The load pitch pointing adjustment capability parameters, yaw pointing adjustment capability parameters, and SSR pointing adjustment capability parameters. Si For satellite S i Data storage capacity, POW Si For satellite S i The energy state; G is the optimization objective to be achieved in planning complex constellation observation missions.

[0017] In the above-mentioned task evaluation and conflict resolution methods, the optimization objective G to be achieved in the planning of complex constellation observation tasks is given by the following formula:

[0018]

[0019] in, Let j be the priority of the j-th task element in the i-th complex observation task. The observation resources allocated to the j-th task element of the i-th complex observation task based on the planning results. The task element includes payload type, imaging swath width, and imaging resolution; PN i Let represent the number of task elements for the i-th complex observation task, and PT represent the target set of satellite resources allocated in this plan.

[0020] In the above-mentioned task assessment and conflict resolution methods, the competency assessment of the bidding task is conducted using the following method:

[0021] The load competency assessment, visibility window assessment, maneuver time assessment, data storage capacity assessment, and power consumption assessment are performed, and the results of the load competency assessment, visibility window assessment, maneuver time assessment, data storage capacity assessment, and power consumption assessment are obtained respectively.

[0022] If any assessment result fails to meet the requirements, the competency assessment result for the bidding task is deemed unsatisfactory; if all assessment agencies meet the requirements, the competency assessment result for the bidding task is deemed satisfactory.

[0023] In the above task assessment and conflict resolution methods, the specific method for load competence assessment is as follows:

[0024] S311: Determine the type of payload carried by the member agent. Width and resolution Does it meet the requirements of the i-th complex observation task T in the tender? (i) The j-th task element Te j The formula for determining the condition is as follows:

[0025]

[0026]

[0027]

[0028] in, For the i-th complex observation task T (i) The j-th task element Te j The load type requirements, For the i-th complex observation task T (i) The j-th task element Te j The required imaging swath width For the i-th complex observation task T (i) The j-th task element Te j Imaging resolution requirements in S; i Let i be the i-th member, Agent.

[0029] S312: If all judgment conditions are met, the load competence assessment result is satisfied; otherwise, the load competence assessment result is not satisfied.

[0030] Among the above task assessment and conflict resolution methods, window assessment is visible, and the specific method is as follows:

[0031] S321: Based on the member agent's own orbit (Orb) Si Orie with load pointing adjustment capability Si The first clipping operation begins, resulting in a set of q1 initial visible windows:

[0032]

[0033] in, This represents the start time of the q1th visible window obtained from the first clipping. Let q1 be the end time of the q1th visible window obtained from the first clipping; satisfying t now For the current time, t m This is the end time of the bidding process;

[0034] S322: Based on the requirements for avoiding sunlight and Earth background, and the distance measurement requirements of satellites with various payload types in the constellation, the second trimming begins, trimming the initial window to obtain q2 windows:

[0035]

[0036] in, This represents the start time of the q2th visible window obtained after the second clipping. The end time of the q2th visible window obtained from the second clipping; satisfying t now For the current time, t m This is the end time of the bidding process;

[0037] S323: According to satellite S i Detection range CL Si Orie with pointing adjustment capability Si A third clipping is performed on the q2 visible windows to obtain q3 visible windows:

[0038]

[0039] in, This represents the start time of the q3th visible window obtained after the 3rd clipping. The end time of the q3th visible window obtained from the 3rd clipping; satisfying t now For the current time, t m This is the end time of the bidding process; These represent the 1st to q3rd visible windows obtained from the 3rd clipping;

[0040] S324: For q3 visible windows, determine if there exists a 1 ≤ i ≤ q3 such that... Established, among which, Represents the i-th complex observation task T (i) The j-th task element Te j The minimum required observation time; if it exists, then extract the visible windows that meet the conditions to obtain q4 executable task windows; otherwise, proceed to step S327.

[0041] S325:q4 executable task windows, the expression is:

[0042]

[0043] in, Let q4 be the start time of the visible window. Let q4 be the end time of the visible window; satisfying t nowFor the current time, t m This is the end time of the bidding process; The 4th cropping operation yields the 1st to q4th visible windows; if q4 > 0, proceed to step S326; otherwise, proceed to step S327.

[0044] S326: If the visible window evaluation result meets the requirements, proceed to step S328;

[0045] S327: The visible window evaluation result does not meet the requirements;

[0046] S328: End.

[0047] In the above-mentioned task assessment and conflict resolution methods, the specific method for assessing maneuver time is as follows:

[0048] S331: Calculate the time it takes for the member agent to maneuver from its current attitude to its initial attitude for observing the target, using the following formula:

[0049]

[0050] Where, Δt man Representing attitude maneuver time, Δψ, Δθ, These represent the changes in attitude angles in each direction. The initial attitude angular velocity for attitude maneuvering. The attitude angular velocity at the end of the attitude maneuver;

[0051] S332: Determine if there exists a 1 ≤ i ≤ q4 such that... Established, where Δt eva The maximum time required for the bidding process, t now For the current moment, Represents the i-th complex observation task T (i) The j-th task element Te j Minimum required observation time Let be the end time of the i-th visible window; if so, the maneuver time evaluation result meets the requirements; otherwise, the maneuver time evaluation result does not meet the requirements.

[0052] In the above task assessment and conflict resolution methods, the data storage capacity assessment method is as follows:

[0053] S341: Assume the satellite performs the i-th complex observation task T (i) The j-th task element Te j The amount of data generated is Sv Si Represents the rate at which observations generate data. Represents the i-th complex observation task T (i) The j-th task element Tej Minimum required observation time;

[0054] S342: Determine if the data storage capacity is sufficient. If so, the data storage capacity assessment result is "meets the requirements"; otherwise, the data storage capacity assessment result is "does not meet the requirements".

[0055] In the above-mentioned task assessment and conflict resolution methods, the specific method for energy assessment is as follows:

[0056] S351: Calculate the charging rate using the following formula:

[0057] Qv charge =shadow Si (t)·P charge ·cosθ Si,sun (t)·A solar ·α

[0058] Among them, Qv charge For the battery charging rate during satellite missions, shadow Si (t) indicates whether the satellite is in sunlight or shadow, P charge When the angle of solar incidence is parallel to the normal of the solar panel, the charging power per square meter of the solar array is θ. Si,sun (t) is the angle between the solar incidence angle and the normal to the satellite solar panel, A solar Let α be the total area of ​​the satellite solar panels, and α be the solar panel charging efficiency.

[0059] S352: Charging capacity within the bidding period tm, the formula is:

[0060]

[0061] Among them, Qv charge The battery charging rate during satellite missions;

[0062] S353: Calculate the electricity consumed within the bidding period tm using the following formula:

[0063]

[0064] Among them, Q consume Qv represents the electricity consumed within the bidding period tm. consume The satellite consumption rate during the mission is represented by tm, where tm is the bidding period.

[0065] S354: Battery power POW after mission completion Sif The formula is:

[0066] POW Sif =min(POW Si0 +Q charge-Q consume Q Simax )

[0067] Among them, Q Simax POW represents the maximum battery capacity of the Si satellite. Si0 This represents the initial energy state of the battery.

[0068] S355: Determine POW Sif ≥Q Simin Whether it is true or not, where Q Simin This is the maximum safe power limit for the entire satellite; if so, the power assessment result is that the requirements are met; otherwise, the power assessment result is that the requirements are not met.

[0069] In the above-mentioned task assessment and conflict resolution methods, the conflict resolution method is as follows:

[0070] If a member agent discovers a time window conflict between a new task being bid on in the current planning period and a planned task, it determines whether the new task has a higher priority. If so, it returns the planned task to the decision agent and sends the new task bidding information; otherwise, it ends the bidding process. The decision agent records the returned planned task and initiates the bidding process for the returned planned task again in the next planning period.

[0071] Compared with the prior art, the present invention has the following advantages:

[0072] (1) This invention designs an evaluation method for member agents to assess whether they can complete the bidding task based on their own capabilities and status from five dimensions: load competence, maneuver time, visible window, storage capacity, and power consumption when they receive task bidding information, thus avoiding a large amount of optimization calculations.

[0073] (2) In the parallel bidding mode of the multi-decision agent design of this invention, when the member agent bids, there may be a conflict between the bidding task of the current period and the bidding and assigned tasks of the previous period. Based on the competence assessment of the bidding task, the member agent innovatively designed a dual bidding strategy, which effectively solves the problem that only the execution of the planned tasks can be guaranteed, and makes the task execution more reasonable and effective. Attached Figure Description

[0074] Figure 1 This is a flowchart of the task evaluation and conflict resolution method provided in the embodiments of the present invention. Detailed Implementation

[0075] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the disclosure to those skilled in the art. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0076] like Figure 1 As shown in the figure, this embodiment provides a method for evaluating and resolving conflicts in Earth observation satellite missions, characterized by the following steps:

[0077] Step (1): Divide the constellation into multiple decision agents and multiple member agents;

[0078] Step (2) Establish a task allocation planning model, specifically as follows:

[0079] Γ=<Ta,S,G,CNF,TAC>

[0080] In the formula, Ta = {T} (1) ,T (2) ,...,T (n)} represents the set of complex observation tasks; CNF represents the collaborative patterns of member agents; S represents the set of currently available satellite resources, S = {S1, S2, ..., S} m}, where m is the total number of available satellites; G is the optimization objective to be achieved in planning complex constellation observation missions; TAC is the multi-agent negotiation mechanism, TAC =<BStrategy,TStrategy,TEvStrategy> Among them, BStrategy is the bidding strategy, TStrategy is the tendering strategy, and TEvStrategy is the bid evaluation strategy.

[0081] The i-th satellite resource in the currently available satellite resource set S is represented as:

[0082] S i ={HLH Si CT Si CW Si ,CR Si ,CL Si Orb Si Orie Si SSR Si POW Si}

[0083] Among them, HLH Si For satellite Si Health level "0 or 1", CT scan Si CW Si ,CR Si ,CL Si Satellite S i The payload type, detection swath width, imaging resolution, and detection distance parameters, Orb Si For satellite S i Orie's orbit Si For satellite S i The set of parameters for pointing adjustment capability, in, Δθ Si ,Δψ Si Satellite S i The load pitch pointing adjustment capability parameters, yaw pointing adjustment capability parameters, and SSR pointing adjustment capability parameters. Si For satellite S i Data storage capacity, POW Si For satellite S i The energy state; G is the optimization objective to be achieved in planning complex constellation observation missions.

[0084] The optimization objective G to be achieved in planning complex constellation observation missions is given by the formula:

[0085]

[0086] in, Let j be the priority of the j-th task element in the i-th complex observation task. The observation resources allocated to the j-th task element of the i-th complex observation task based on the planning results. The task element includes payload type, imaging swath width, and imaging resolution; PN i Let represent the number of task elements for the i-th complex observation task, and PT represent the target set of satellite resources allocated in this plan.

[0087] Step (3): Based on the task allocation planning model, the decision agent conducts a competency assessment of the bidding tasks within the current planning cycle and forms a task allocation plan for this cycle.

[0088] The specific method for conducting a competency assessment of the bidding task is as follows:

[0089] The load competency assessment, visibility window assessment, maneuver time assessment, data storage capacity assessment, and power consumption assessment are performed, and the results of the load competency assessment, visibility window assessment, maneuver time assessment, data storage capacity assessment, and power consumption assessment are obtained respectively.

[0090] If any assessment result fails to meet the requirements, the competency assessment result for the bidding task is deemed unsatisfactory; if all assessment agencies meet the requirements, the competency assessment result for the bidding task is deemed satisfactory.

[0091] The specific method for load competence assessment is as follows:

[0092] Step S311: Determine the type of payload carried by the member agent itself. Width and resolution Does it meet the requirements of the i-th complex observation task T in the tender? (i) The j-th task element Te j The formula for determining the condition is as follows:

[0093]

[0094]

[0095]

[0096] in, For the i-th complex observation task T (i) The j-th task element Te j The load type requirements, For the i-th complex observation task T (i) The j-th task element Te j The required imaging swath width For the i-th complex observation task T (i) The j-th task element Te j Imaging resolution requirements in S; i Let i be the i-th member, Agent.

[0097] Step S312: If all judgment conditions are met, the load competence assessment result is satisfied; otherwise, the load competence assessment result is not satisfied.

[0098] The visible window evaluation method is as follows:

[0099] Step S321: Based on the member agent's own orbit Orb Si Orie with load pointing adjustment capability Si The first clipping operation begins, resulting in a set of q1 initial visible windows:

[0100]

[0101] in, This represents the start time of the q1th visible window obtained from the first clipping. Let q1 be the end time of the q1th visible window obtained from the first clipping; satisfying t now For the current time, t m This is the end time of the bidding process;

[0102] Step S322: Based on the requirements for avoiding sunlight and Earth background, and the distance measurement requirements of satellites of various payload types in the constellation, the second cropping begins, cropping the initial window to obtain q2 windows:

[0103]

[0104] in, This represents the start time of the q2th visible window obtained after the second clipping. The end time of the q2th visible window obtained from the second clipping; satisfying t now For the current time, t m This is the end time of the bidding process;

[0105] Step S323: According to satellite S i Detection range CL Si Orie with pointing adjustment capability Si A third clipping is performed on the q2 visible windows to obtain q3 visible windows:

[0106]

[0107] in, This represents the start time of the q3th visible window obtained after the 3rd clipping. The end time of the q3th visible window obtained from the 3rd clipping; satisfying t now For the current time, t m This is the end time of the bidding process; These represent the 1st to q3rd visible windows obtained from the 3rd clipping;

[0108] Step S324: For q3 visible windows, determine if there exists a 1≤i≤q3 such that... Established, among which, Represents the i-th complex observation task T (i) The j-th task element Te j The minimum required observation time; if it exists, then extract the visible windows that meet the conditions to obtain q4 executable task windows; otherwise, proceed to step S327.

[0109] Step S325: q4 executable task windows, the expression is:

[0110]

[0111] in, Let q4 be the start time of the visible window. Let q4 be the end time of the visible window; satisfying t now For the current time, t m This is the end time of the bidding process; The 4th cropping operation yields the 1st to q4th visible windows; if q4 > 0, proceed to step S326; otherwise, proceed to step S327.

[0112] Step S326: If the evaluation result of the visible window meets the requirements, proceed to step S328;

[0113] Step S327: The visible window evaluation result does not meet the requirements;

[0114] Step S328: End.

[0115] The specific method for assessing maneuver time is as follows:

[0116] Step S331: Calculate the time it takes for the member agent to maneuver from its current attitude to its initial attitude for observing the target, using the following formula:

[0117]

[0118] Where, Δt man Representing attitude maneuver time, Δψ, Δθ, These represent the changes in attitude angles in each direction. The initial attitude angular velocity for attitude maneuvering. The attitude angular velocity at the end of the attitude maneuver;

[0119] Step S332: Determine if there exists 1 ≤ i ≤ q4 such that Established, where Δt eva The maximum time required for the bidding process, t now For the current moment, Represents the i-th complex observation task T (i) The j-th task element Te j Minimum required observation time Let be the end time of the i-th visible window; if so, the maneuver time evaluation result meets the requirements; otherwise, the maneuver time evaluation result does not meet the requirements.

[0120] The specific method for data storage capacity assessment is as follows:

[0121] Step S341: Assume the satellite is performing the i-th complex observation task T (i) The j-th task element Te jThe amount of data generated is SvSi represents the rate at which observations generate data. Represents the i-th complex observation task T (i) The shortest observation time required for the j-th task element Tej;

[0122] Step S342: Determine if the data storage capacity is sufficient. If so, the data storage capacity assessment result is "meets the requirements"; otherwise, the data storage capacity assessment result is "does not meet the requirements".

[0123] Battery capacity assessment, the specific method is as follows:

[0124] Step S351: Calculate the charging rate using the following formula:

[0125] Qv charge =shadow Si (t)·P charge ·cosθ Si,sun (t)·A solar ·α

[0126] Among them, Qv charge For the battery charging rate during satellite missions, shadow Si (t) indicates whether the satellite is in sunlight or shadow, P charge When the angle of solar incidence is parallel to the normal of the solar panel, the charging power per square meter of the solar array is θ. Si,sun (t) is the angle between the solar incidence angle and the normal to the satellite solar panel, A solar Let α be the total area of ​​the satellite solar panels, and α be the solar panel charging efficiency.

[0127] Step S352: Charging amount within the bidding period tm, the formula is:

[0128]

[0129] Among them, Qv charge The battery charging rate during satellite missions;

[0130] Step S353: Calculate the electricity consumed within the bidding period tm, using the following formula:

[0131]

[0132] Among them, Q consume Qv represents the electricity consumed within the bidding period tm. consume The satellite consumption rate during the mission is represented by tm, where tm is the bidding period.

[0133] Step S354: Battery power POW after task completion Sif The formula is:

[0134] POW Sif =min(POW Si0 +Q charge -Q consume Q Simax )

[0135] Among them, Q Simax POW represents the maximum battery capacity of the Si satellite. Si0 This represents the initial energy state of the battery.

[0136] Step S355: Determine POW Sif ≥Q Simin Whether it is true or not, where Q Simin This is the maximum safe power limit for the entire satellite; if so, the power assessment result is that the requirements are met; otherwise, the power assessment result is that the requirements are not met.

[0137] Step (4): The member Agent determines whether there is a conflict between the received task allocation plan and the planned tasks in the previous period based on the task allocation plan for this period. If so, conflict resolution is carried out; otherwise, bidding information is sent to the decision Agent to form the planned tasks for this period.

[0138] Conflict resolution methods are as follows:

[0139] If a member agent discovers a time window conflict between a new task being bid on in the current planning period and a planned task, it determines whether the new task has a higher priority. If so, it returns the planned task to the decision agent and sends the new task bidding information; otherwise, it ends the bidding process. The decision agent records the returned planned task and initiates the bidding process for the returned planned task again in the next planning period.

[0140] This invention proposes a method for evaluating and resolving conflicts in Earth observation satellite missions. For the first time, it proposes that when a member agent receives mission bidding information, it should evaluate whether it can complete the bidding mission based on its own capabilities and status from five dimensions: payload competence, maneuver time, visibility window, storage capacity, and power consumption.

[0141] Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make possible changes and modifications to the technical solutions of the present invention by utilizing the methods and techniques disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solutions of the present invention shall fall within the protection scope of the technical solutions of the present invention.

Claims

1. A method for evaluating and resolving conflicts in Earth observation satellite missions, characterized in that, include: The constellation is divided into multiple decision agents and multiple member agents; Establish a task allocation planning model; According to the task allocation planning model, the decision agent conducts a competency assessment of the bidding tasks within the current planning cycle and forms a task allocation plan for this cycle. The member agent determines whether there is a conflict between the received task allocation scheme and the planned tasks in the previous period based on the task allocation scheme of the current period and the planned tasks in the previous period. If there is a conflict, the conflict is resolved. Otherwise, the agent sends bidding information to the decision agent to form the planned tasks for the current period. The specific method for conducting the competency assessment of the bidding task is as follows: The load competency assessment, visibility window assessment, maneuver time assessment, data storage capacity assessment, and power consumption assessment are performed, and the results of the load competency assessment, visibility window assessment, maneuver time assessment, data storage capacity assessment, and power consumption assessment are obtained respectively. If any assessment result fails to meet the requirements, the competency assessment result for the bidding task is deemed unsatisfactory; if all assessment results meet the requirements, the competency assessment result for the bidding task is deemed satisfactory. The specific method for conflict resolution is as follows: If a member agent discovers a time window conflict between a new task being bid on in the current planning period and a planned task, it determines whether the new task has a higher priority. If so, it returns the planned task to the decision agent and sends the new task bidding information; otherwise, it ends the bidding process. The decision agent records the returned planned task and restarts the bidding process for the returned planned task in the next planning period. The establishment of the task allocation planning model specifically involves: In the formula, A collection of complex observation tasks; A collaborative model for member agents; This is the set of currently available satellite resources. , Total number of available satellites; The optimization goals to be achieved in planning complex constellation observation missions; TAC is a multi-agent negotiation mechanism. ,in, For bidding strategies, For bidding strategies, The evaluation strategy is defined as follows: n represents the number of complex observation tasks. The i-th satellite resource in the currently available satellite resource set S is represented as: in, The health status of satellite Si is "0 or 1". These are the payload type, swath width, imaging resolution, and detection range parameters of satellite Si. For the orbit of satellite Si, This is the parameter set for the pointing adjustment capability of satellite Si. ,in, These are the payload pitch pointing adjustment capability parameters, roll pointing adjustment capability parameters, and yaw pointing adjustment capability parameters of satellite Si, respectively. For the data storage capacity of satellite Si, The energy state of satellite Si; The optimization goals to be achieved in planning complex constellation observation missions; The optimization goals to be achieved in planning complex constellation observation missions The formula is: in, For the first The first complex observation task Prioritization of each task element For the planning results, the first The first complex observation task The observation resources allocated to each task element, where each task element includes payload type. Imaging swath width and imaging resolution ; For the first The number of task elements in a complex observation task This refers to the target set of satellite resources allocated in this plan.

2. The method for evaluating and resolving conflicts in Earth observation satellite missions according to claim 1, characterized in that: The specific method for load competence assessment is as follows: S311: Determine the type of payload carried by the member agent. Width and resolution Does it meet the requirements of the tender? A complex observation task The Task elements The formula for determining the condition is as follows: in, For the first A complex observation task The Task elements The load type requirements, For the first A complex observation task The Task elements The required imaging swath width For the first A complex observation task The Task elements The imaging resolution requirement is specified in the diagram; Si is the i-th member Agent. S312: If all judgment conditions are met, the load competence assessment result is satisfied; otherwise, the load competence assessment result is not satisfied.

3. The method for evaluating and resolving conflicts in Earth observation satellite missions according to claim 1, characterized in that: The specific method for evaluating the visible window is as follows: S321: Based on the member agent's own trajectory With load pointing adjustment capability parameter set The first cutting was performed, resulting in... An initial set of visible windows: in, The first cut obtained The start time of a visible window, The first cut obtained The end time of a visible window; satisfying , For the current moment, This is the end time of the bidding process; S322: Based on the requirements for avoiding sunlight and the Earth's background, and the measurement distance requirements of various payload types of satellites in the constellation, the second trimming begins, trimming the initial window to obtain... One window: in, This represents the start time of the q2th visible window obtained after the second clipping. The end time of the q2th visible window obtained from the second clipping; satisfying ≥t now , ≤t m , For the current moment, This is the end time of the bidding process; S323: Based on the detection range parameters of satellite Si With pointing adjustment capability ,right The visible window is clipped a third time to obtain... One visible window: in, This represents the start time of the q3th visible window obtained after the 3rd clipping. The end time of the q3th visible window obtained from the 3rd clipping; satisfying ≥t now , ≤t m , For the current moment, This is the end time of the bidding process; These represent the results of the third cut, from the first to the second. One visible window; S324: Yes A visible window, determine if it exists. ,make Established, among which, Represents the i-th complex observation task The Task elements The minimum required observation time; if it exists, then extract the visible window that meets the condition, and obtain... A single executable task window; otherwise, proceed to step S327. S325: An executable task window, with the expression: in, Let q4 be the start time of the visible window. Let q4 be the end time of the visible window; satisfying ≥ , ≤ , For the current moment, This is the end time of the bidding process; To obtain the first to the fourth cut A visible window; if If yes, proceed to step S326; otherwise, proceed to step S327. S326: The evaluation result of the visible window meets the requirements, proceed to step S328; S327: The visible window evaluation result does not meet the requirements; S328: End.

4. The method for evaluating and resolving conflicts in Earth observation satellite missions according to claim 3, characterized in that: The specific method for assessing the maneuver time is as follows: S331: Calculate the time it takes for the member agent to maneuver from its current attitude to its initial attitude for observing the target, using the following formula: in, Represents attitude maneuver time. These represent the changes in attitude angles in each direction. The initial attitude angular velocity for attitude maneuvering. The attitude angular velocity at the end of the attitude maneuver; S332: Determine if it exists make Established, among which, This represents the maximum time consumed in the bidding process. For the current moment, Represents the i-th complex observation task The Task elements Minimum required observation time Let be the end time of the i-th visible window; if so, the maneuver time evaluation result meets the requirements; otherwise, the maneuver time evaluation result does not meet the requirements.

5. The method for evaluating and resolving conflicts in Earth observation satellite missions according to claim 1, characterized in that: The specific method for evaluating the data storage capacity is as follows: S341: Assuming the satellite performs the... A complex observation task The Task elements The amount of data generated is , Represents the rate at which observations generate data. Represents the i-th complex observation task The Task elements Minimum required observation time; S342: Determine if the data storage capacity is sufficient. If yes, the data storage capacity assessment result is satisfactory; otherwise, the data storage capacity assessment result is unsatisfactory.

6. The method for evaluating and resolving conflicts in Earth observation satellite missions according to claim 1, characterized in that: The specific method for assessing the power consumption is as follows: S351: Calculate the charging rate using the following formula: in, The battery charging rate during satellite missions. This indicates whether the satellite is in sunlight or shadow. The charging power per square meter of solar array when the angle of solar incidence is parallel to the normal of the solar panel. The angle between the angle of solar incidence and the normal to the satellite solar panel. The total area of ​​the satellite solar panels. Improve the charging efficiency of the windsurfing board; S352: Bidding Period The internal charging capacity is calculated using the following formula: in, The battery charging rate during satellite missions; S353: Calculate the bidding period The formula for internal power consumption is: in, For the bidding cycle Internal power consumption This refers to the satellite consumption rate during the mission. For the bidding period; S354: Battery level after mission completion The formula is: in, This indicates the maximum battery capacity of the Si satellite. This represents the initial energy state of the battery. S355: Judgment Whether it is true or not, among which, This is the maximum safe power limit for the entire satellite; if so, the power assessment result is that the requirements are met; otherwise, the power assessment result is that the requirements are not met.

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