A high- and low-orbit multi-satellite cluster mission coordination architecture and dynamic organization method and system

Abstract

The present invention proposes a high-orbit multi-satellite cluster task coordination architecture and dynamic organization method and system, the method comprising: a high-orbit star cluster receiving a remote sensing observation task and performing initial observation on the remote sensing observation task; the high-orbit star cluster initially allocating the observation task to a low-orbit star cluster at least according to the position of each star cluster and the idle state of each star cluster payload; the master star of the low-orbit star cluster secondarily allocating the task to the slave satellites of the low-orbit star cluster to complete the observation task according to the type of the observation task and the state of each satellite in the constellation; the slave satellites of the low-orbit star cluster mobilize relevant payloads to the area or airspace where the observation task is located to perform observation and continuous tracking of the target; after the slave satellites of the low-orbit star cluster complete the target observation, they feed back the observation results to the user; during the execution of the observation task, the ground control center performs situation monitoring and intervention with all satellites in the constellation in real time.

Description

Technical Field

[0001] The present invention relates to the field of satellite remote sensing, and in particular to a high-orbit and low-orbit multi-satellite cluster mission coordination architecture and a dynamic organization method and system. Background Art

[0002] In order to rationally and efficiently utilize precious on-board resources and maximize the satisfaction of users' diverse, multi-dimensional, and multi-level mission requirements, multi-satellite cluster mission collaborative planning technology has received extensive attention from the global industry and academia. At present, the scheduling object of satellite mission planning is the entire satellite cluster's ground and air observation resources, including a collection of visible light, infrared, microwave, and hyperspectral payloads. The purpose of planning is to arrange the actions of the entire satellite collection so that user needs can be maximized while satisfying all satellite constraints.

[0003] Compared with traditional single-satellite missions, satellite cluster missions present the characteristics of coordination and handover. First, multiple satellites in high and low orbits and low orbits need to coordinate to complete joint positioning and observation of the same target, making full use of the resource advantages of each node in high and low orbits to complete the refined execution of the mission; second, the spatial relationship between the target and the satellite changes dynamically, so handover between satellite clusters is required during the mission execution to achieve continuity and stability in mission execution.

[0004] Compared with the existing constellation organization structure, such as the Beidou navigation satellite constellation architecture, the remote sensing satellite constellation organization structure is more diverse, with complex tasks, multi-target dimensions, and diversified task dynamic coordination characteristics. In view of the differences in information processing capabilities and visual ranges among high-orbit satellites, low-orbit satellites, and the ground, as well as the diverse observation characteristics and requirements of heterogeneous payloads such as satellite optical payloads, microwave payloads, and hyperspectral payloads, the high-low-ground coordinated constellation dynamic organization and task planning methods have always been a common problem faced by the engineering and academic communities. At present, there are few complex constellation architecture methods involving both high-orbit and low-orbit satellites, which cannot meet the large-scale development needs of multiple payloads and multiple tasks of future remote sensing constellations. Summary of the invention

[0005] In view of this, the present invention provides a high-orbit multi-satellite cluster task coordination architecture and dynamic organization method. Through this method, the task coordination planning and joint scheduling problems of space-based ground and air observation resources are solved, and the comprehensive management and benefit maximization of multiple types of space-based observation resources are realized. The problem of task coordination allocation and scheduling between multiple tasks and multiple payloads existing in the existing satellite cluster during space-based detection is solved, including the following steps:

[0006] The high-orbit satellite cluster receives the remote sensing observation mission and performs initial observation on the remote sensing observation mission;

[0007] The high-orbit star cluster initially allocates the observation task to a low-orbit star cluster at least according to the position of each star cluster and the idle state of the payload of each star cluster, and the main star of the low-orbit star cluster receives the observation task;

[0008] The master star of the low-orbit star cluster secondary distributes the task to the slave stars of the low-orbit star cluster to complete the observation task according to the type of the observation task and the status of each satellite in the constellation;

[0009] The slave satellites of the low-orbit constellation will maneuver the relevant payloads to the area or airspace where the observation mission is located to observe and continuously track the target;

[0010] After the slave satellite of the low-orbit star cluster completes the target observation, the observation result is fed back to the user;

[0011] During the execution of the above observation mission, the ground control center conducts situation monitoring and intervention with all satellites in the constellation in real time. Moreover, as the satellite orbits, mission attributes and relative positions change, the dynamic organization of high- and low-orbit multi-satellite cluster missions specifically includes: dynamic handover of high- and low-orbit collaborative links, dynamic handover of master satellites within a low-orbit star cluster, dynamic handover of slave satellites between low-orbit star clusters, and dynamic handover of targets between low-orbit star clusters.

[0012] In particular, the remote sensing observation mission is a random observation mission captured by a high-orbit satellite, or a remote sensing observation mission generated by a ground system according to a plan, and is uploaded to the high-orbit satellite under the jurisdiction of the mission area.

[0013] In particular, the dynamic handover of high- and low-orbit collaborative links includes two handover modes: high- and low-orbit link handover within a low-orbit constellation and high- and low-orbit collaborative constellation link handover, so as to meet the requirements for stable operation of high- and low-orbit links during the dynamic changes in the high- and low-orbit spatial relationship.

[0014] In particular, the high-low link handover in the low-orbit star cluster includes: when a star in the low-orbit star cluster maintains a link with a high-orbit star, a plurality of backup link stars are set at the same time to ensure that when the current link-building star leaves the high-orbit field of view or the link is abnormal, the link can be quickly re-established to restore the normal operation state;

[0015] The high-low coordinated constellation link handover includes: reallocating the original corresponding low-orbit constellation in the high-orbit constellation.

[0016] In particular, the dynamic handover of the master star in the LEO star cluster includes: exchanging the status of the master star and the slave star within the LEO star cluster;

[0017] The dynamic handover of slave stars between low-orbit star clusters includes: adjusting a slave star in a certain low-orbit star cluster to another low-orbit star cluster and serving as a slave star under a master star of the other low-orbit star cluster.

[0018] In particular, the target handover between low-orbit star clusters includes: adjusting the low-orbit star cluster that performs the observation task from the current low-orbit star cluster to another low-orbit star cluster.

[0019] In particular, after the high-orbit constellation receives the remote sensing observation task, the straight-line distance between the task and the center of each constellation is considered, and based on the three-dimensional coordinates of the task center, the task is assigned to the constellation with the nearest constellation center for management; let the constellation center set be M, and the distance between the target and the i-th constellation center be dst i , if the calculation result of a certain cluster center (set as cluster j) satisfies

[0020]

[0021] The high-orbit satellite then sends the task to the constellation management.

[0022] In particular, after the slave satellite of the low-orbit star cluster completes the target observation, the observation result is fed back to the user, including directly feeding back the observation result to the user; or feeding back the observation result to the user through the high-orbit satellite in the corresponding area.

[0023] The present invention also proposes a high-orbit and low-orbit multi-satellite cluster mission coordination architecture and dynamic organization system, the system comprising a high-orbit satellite cluster, a low-orbit satellite cluster, and a ground control center;

[0024] The high-orbit star cluster is used to receive remote sensing observation tasks and perform initial observations on the remote sensing observation tasks; the observation tasks are initially assigned to a low-orbit star cluster at least according to the positions of the star clusters and the idle states of the payloads of the star clusters, and the main star of the low-orbit star cluster receives the observation tasks;

[0025] The master satellite of the low-orbit star cluster is used to secondary distribute the task to the slave satellites of the low-orbit star cluster to complete the observation task according to the type of the observation task and the status of each satellite in the constellation;

[0026] The slave satellite of the low-orbit constellation is used to maneuver the relevant payload to the region or airspace where the observation mission is located, perform observation and continuous tracking of the target; and after completing the target observation, feed back the observation results to the user;

[0027] The ground control center is used to monitor and intervene in the situation with all satellites in the constellation in real time during the execution of the observation mission. Moreover, as the satellite orbits, mission attributes and relative positions change, the dynamic organization of high- and low-orbit multi-satellite cluster missions specifically includes: dynamic handover of high- and low-orbit collaborative links, dynamic handover of master satellites within a low-orbit star cluster, dynamic handover of slave satellites between low-orbit star clusters, and dynamic handover of targets between low-orbit star clusters.

[0028] Beneficial effects:

[0029] (1) The present invention solves the problem of task coordination planning and joint scheduling of space-based ground and air observation resources, realizes comprehensive management and efficiency maximization of multiple types of space-based observation resources, and solves the problem of task coordination allocation and scheduling between multiple tasks and multiple payloads in existing satellite clusters during space-based detection;

[0030] (2) The present invention has a variety of dynamic handover modes, including dynamic handover of high-orbit and low-orbit coordinated links, dynamic handover of master satellites within a low-orbit star cluster, dynamic handover of slave satellites between low-orbit star clusters, and target handover between low-orbit star clusters. The satellite cluster organization is flexible and resource utilization is full.

[0031] (3) In the present invention, after the high-orbit satellite receives the remote sensing observation task, the straight-line distance between the task and the center of each star cluster is fully considered, and based on the three-dimensional coordinates of the task center, the task is assigned to the star cluster with the nearest star cluster center for management, which is reasonable and efficient;

[0032] (4) After the slave satellite of the low-orbit constellation in the present invention completes the target observation, the observation result is fed back to the user, including directly feeding back the observation result to the user; or feeding back the observation result to the user through the high-orbit satellite in the corresponding area, which has various methods and high flexibility.

[0033] (5) The ground control center in the present invention is used to monitor and intervene in the situation of all satellites in the constellation in real time during the execution of the observation mission. In addition, high and low orbit satellites can also autonomously perform regional autonomy within the cluster, with flexible control methods and high resource utilization. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 This is a schematic diagram of the high and low constellation task coordination framework proposed by the present invention;

[0035] Figure 2 This is a schematic diagram of the multi-satellite cluster mission planning process proposed by the present invention;

[0036] Figure 3 A schematic diagram of the initial star cluster division method proposed by the present invention;

[0037] Figure 4 A schematic diagram of the dynamic handover of the high-orbit and low-orbit collaborative links proposed by the present invention;

[0038] Figure 5 This is a schematic diagram of the dynamic handover of the main star in the star cluster proposed by the present invention;

[0039] Figure 6 A schematic diagram of the dynamic handover of slave stars between star clusters proposed by the present invention;

[0040] Figure 7 This is a schematic diagram of the dynamic handover of targets between star clusters proposed by the present invention. DETAILED DESCRIPTION

[0041] The present invention is described in detail below with reference to the accompanying drawings and embodiments.

[0042] The present invention discloses a high-orbit multi-satellite cluster task coordination dynamic organization system and method, constructs a hierarchical constellation dynamic networking interaction architecture and coordination method, solves the task coordination planning and joint scheduling problems of space-based ground and air observation resources, and realizes comprehensive management and benefit maximization of multiple types of space-based observation resources. It solves the task coordination allocation and scheduling problems between multiple tasks and multiple payloads existing in existing satellite clusters during space-based detection.

[0043] 1. The high and low constellation task coordination framework adopted by the present invention is as follows Figure 1 The node resource types involved in the present invention include high-orbit satellite clusters, low-orbit satellite clusters, and ground control centers. During mission execution, low-orbit satellites are divided into mission master satellites (planning satellites) and mission slave satellites (execution satellites). The definitions and functions of each satellite are as follows:

[0044] (1) High-orbit constellation

[0045] The high-orbit cluster involved in the present invention includes more than one high-orbit satellite. The high-orbit star cluster completes the initial discovery of the task and the one-time assignment of the task. The high-orbit satellite involved in the present invention refers to a satellite whose flight altitude is greater than or equal to 20,000 kilometers from the sub-satellite point.

[0046] a) One-time observation of the mission. Compared with low-orbit satellites, high-orbit satellites have high orbits and large fields of view, and can grasp the situation in a wide area. In addition, the position of high-orbit satellites relative to the ground changes less, and the observable jurisdiction area is fixed. For tasks that appear randomly within the jurisdiction of a high-orbit satellite, the high-orbit satellite completes the initial observation, and for stereo positioning tasks, no less than two high-orbit satellites complete stereo observation.

[0047] b) One-time assignment of tasks. While the high-orbit satellite is conducting wide-area, global remote sensing observations of the target, it will also be initially assigned to a certain low-orbit constellation by the high-orbit satellite. In principle, the high-orbit satellite will initially assign the task to the low-orbit constellation with the best execution effect.

[0048] (2) Low-orbit constellation

[0049] In the star cluster involved in the present invention, a high-orbit satellite contains no less than two low-orbit satellites in its control area (for stereo positioning tasks, no less than two low-orbit satellites are required). Complete the detailed planning and execution of tasks. According to the actual needs of star cluster task management, low-orbit satellites can be divided into two roles: low-orbit master satellites (planning satellites) and low-orbit slave satellites (execution satellites), which respectively complete the detailed planning and execution of tasks. Among them, the mission master satellite can also perform tasks as a slave satellite at the same time. The high-orbit satellite involved in the present invention refers to a satellite whose flight altitude is less than or equal to 5,000 kilometers from the sub-satellite point.

[0050] a) Secondary task allocation. After receiving the initial task allocation from the high-orbit satellite, the master satellite (planning satellite) completes the detailed planning according to the resource status within the constellation, splits the task into executable tasks for each execution satellite, and allocates them to the corresponding execution slave satellites. The master satellites of different low-orbit constellations can also complete task planning, allocation and task execution through negotiation.

[0051] b) Secondary observation of the mission. After receiving the mission assigned by the master satellite, the slave satellite completes the observation mission and feeds back the observation information to the master satellite. The master satellite integrates the observation information of each slave satellite and completes the mission situation synthesis.

[0052] (3) Ground Control Center

[0053] The ground control center can monitor the situation of all satellites in the constellation in real time, and has the ability to control the overall situation (high orbit and low orbit). It can also generate specific remote sensing tasks to be executed according to actual application needs and upload them to the constellation for execution.

[0054] When a new task is generated on the ground, the ground can allocate the task area based on the initial task information it has, and assign the task to a specific high-orbit satellite for initial observation and allocation; when allocating low-orbit star clusters, the ground center can allocate the star cluster allocation of the low-orbit task based on the global precise situation; when organizing low-orbit execution satellites, the ground center can rely on ground computing power to supervise and allocate the task allocation of the executing main satellite.

[0055] According to the above explanation, the present invention further provides a high-orbit multi-satellite cluster mission coordination architecture and dynamic organization method, which is mainly divided into five steps: initial mission execution, initial mission planning, detailed mission planning, detailed mission execution, and mission feedback. The ground center can conduct real-time supervision and intervention in these four steps. The process is as follows: Figure 2 shown.

[0056] Step 1: Task one observation

[0057] The high-orbit constellation receives remote sensing observation tasks and performs initial observations on the remote sensing observation tasks; the remote sensing observation tasks are randomly generated from the area under the jurisdiction of the high-orbit satellite, or are generated in advance by the ground system according to actual application needs. After the task is generated, the high-orbit satellite will collaborate to complete the initial observation of the task according to the location area of ​​the task. Specifically, the tasks in the remote sensing high and low orbit constellations are generated by ground injection or randomly triggered by external events. After the external task occurs, the ground and air observation tasks generated according to the plan, or the random observation tasks captured by the high orbit (such as forest fire alarms). The high orbit / ground will summarize the collected task information and transmit it to the high-orbit satellite under the jurisdiction of the task area at a certain period for the first task decomposition and scheduling of the high-orbit satellite. This process is essentially the process of allocating tasks to regions.

[0058] Step 2: One-time task allocation, i.e. initial task allocation for high-orbit satellites

[0059] The high-orbit star cluster initially allocates the observation task to a low-orbit star cluster at least according to the position of each star cluster and the idle state of each star cluster payload, and the main star of the low-orbit star cluster receives the observation task; after the high-orbit satellite or ground system generates a new observation task and notes it to the area where the task is located to manage the high-orbit satellite, the high-orbit satellite will allocate it once (initially) to a specific low-orbit star cluster. When the high-orbit satellite allocates the task once (initially) to a specific star cluster, the factors considered include but are not limited to the position of the task relative to each star cluster, the idle state of each star cluster payload, etc. When the high-orbit satellite allocates the task once (initially) to a specific star cluster, the main star of the star cluster will receive the task. Specifically, after the high-orbit star cluster receives the new observation task, considering the straight-line distance between the task and the center of each star cluster (when the number of star cluster centers is greater than 1), based on the three-dimensional coordinates of the task center, the task is allocated to the star cluster where the nearest star cluster center is located for management. Let the set of star cluster centers be M, and the distance between the target and the center of the i-th star cluster be dst i , if the calculation result of cluster center 1 satisfies

[0060]

[0061] The high-orbit satellite will then send the task to constellation 1 for management, and the master satellite in constellation 1 will be responsible for receiving the task and performing the next step of operation.

[0062] Step 3: Secondary task allocation, namely, refined task allocation for the LEO primary satellite

[0063] The master star of the low-orbit star cluster will secondary distribute the task to the slave stars of the low-orbit star cluster to complete the observation task according to the type of the observation task and the status of each satellite in the constellation; after the low-orbit master star receives the task initially distributed by the high-orbit satellite, the low-orbit master star will secondary distribute (finely distribute) the task to a specific execution star to complete the task according to the type of the task and the status of each satellite in the constellation. After the high-orbit satellite distributes the target to the star cluster, the low-orbit master star will carry out specific observation task distribution and observation period planning according to the observation resources of each slave star in the low-orbit star cluster under its jurisdiction, and autonomously distribute the target to each low-orbit slave star in the area.

[0064] When the low-orbit master satellite performs mission planning and scheduling, it will prioritize high-priority tasks to the low-orbit slave satellites in the constellation based on satellite remote sensing resources and mission sets; through reasonable task execution sequencing, it can obtain greater global task execution benefits.

[0065] Step 4: The low-orbit slave satellite mission performs secondary observation of the mission. After receiving the specific task assigned by the low-orbit master satellite for the second time (refined), the low-orbit slave satellite will mobilize the relevant payload to maneuver to the area or airspace where the mission is located to perform observation and continuous tracking of the target.

[0066] After the LEO master satellite completes the mission planning and scheduling and assigns the mission to the LEO slave satellite, the corresponding LEO slave satellite begins remote sensing detection of the target and generates observation results. The observation results are fed back to the LEO master satellite and the ground. The LEO master satellite needs to decide the focus of the next round of planning based on the completion of the mission of the execution satellite. If the satellite fails to complete the remote sensing detection of the established mission within the expected period, it needs to be fed back to the high-orbit satellite in the region, and the execution results of the slave satellite are used as new event inputs for a new round of scheduling.

[0067] Step 5: Mission feedback: After the low-orbit satellite completes the target observation, it sends the mission information to the user, or forwards it to the user via the high-orbit satellite.

[0068] Moreover, in the present invention, the division of low-orbit star clusters is carried out based on the principle of regional fixation. That is, satellites whose positions belong to a common three-dimensional space are divided into the same star cluster. In the specific implementation process, the star cluster division can be carried out with the high-orbit satellite on the GEO orbit (geosynchronous orbit) as the center. For example, the entire high-orbit and low-orbit constellation can be divided into 4-8 star clusters around these 4-8 GEO satellites. The 4-8 high-orbit satellites selected as the center of the star cluster are generally evenly distributed on the GEO orbit; non-uniform distribution can also be selected according to the density of the tasks to be performed; the specific settings are uniformly determined by the ground at the initial moment.

[0069] For constellations with randomly distributed initial positions or randomly added satellites, the ground determines the initial constellation of the satellite based on the initial orbit information of each satellite and the distance of the satellite relative to the center of each constellation (i.e., a specific GEO satellite), and divides the satellite into the constellation where the nearest GEO orbit satellite is located for management, such as Figure 3 shown.

[0070] The division of the constellations in the high and low orbit constellations is not fixed. In the specific implementation process, the number of constellations and the GEO satellites selected as the center of the constellation are fixed, but the orbital positions of non-GEO satellites will change over time. Therefore, the number and IDs of low orbit satellites contained in each constellation will change dynamically over time. At the same time, the position of each low orbit satellite relative to the center of each constellation (GEO satellite) also changes over time, so the constellation affiliation of each low orbit satellite will dynamically switch in each constellation over time.

[0071] During the execution of the above observation mission, the ground control center conducts situation monitoring and intervention with all satellites in the constellation in real time. Moreover, as the satellite orbits, mission attributes and relative positions change, the dynamic organization of high- and low-orbit multi-satellite cluster missions specifically includes: dynamic handover of high- and low-orbit collaborative links, dynamic handover of master satellites within a low-orbit star cluster, dynamic handover of slave satellites between low-orbit star clusters, and dynamic handover of targets between low-orbit star clusters.

[0072] The dynamic handover method of the high-orbit and low-orbit mission collaborative architecture provided by the present invention is as follows Figures 4 to 7 As shown in the figure, it includes dynamic handover of high- and low-orbit collaborative links, dynamic handover of master satellites within a low-orbit star cluster, dynamic handover of slave satellites between low-orbit star clusters, and target handover between low-orbit star clusters. The division of high- and low-orbit links, low-orbit star clusters, and the allocation of master and slave satellite roles within a star cluster are dynamic, and they change dynamically with the changes in satellite orbits, mission attributes, and relative positions. As the mission progresses and the orbit of the execution satellite (slave satellite) changes, the mission will also be dynamically handed over between the execution satellites in the low-orbit star cluster, realizing the dynamic organization of the master and slave satellite roles and the dynamic management and handover of multiple types of tasks.

[0073] (1) Dynamic handover of high-orbit and low-orbit collaborative links.

[0074] Dynamic handover of high and low orbit collaborative links Figure 4 As shown, there are two handover modes, including the handover of high-low links within the low-orbit constellation and the handover of high-low collaborative constellation links, to meet the requirements for stable operation of high-and low-orbit links during the dynamic changes of the high-and low-orbit spatial relationship.

[0075] Maintenance of high and low links within the low-orbit star cluster. A satellite in the low-orbit star cluster maintains a link with a high-orbit satellite, and several backup link satellites are set up to ensure that when the current link satellite leaves the high-orbit field of view or the link is abnormal, the link can be quickly re-established and restored to normal operation.

[0076] High-low coordinated constellation link handover. When the state of satellite handover and constellation reallocation between low-orbit constellations is switched, it has the ability to quickly re-establish the high and low links to ensure the normal operation of the high and low links.

[0077] (2) Dynamic handover of the main star in the low-orbit star cluster.

[0078] Dynamic handover of the main star in the low-orbit star cluster Figure 5 The master satellite handover function within the constellation can dynamically select advantageous resources for mission planning and execution during the rapid change of mission objectives and satellite relative spatial relationships. It can also dynamically balance resource allocation within the constellation to improve overall operational efficiency.

[0079] Initially, low-orbit satellite 1 works in the low-orbit master state, and satellites 2 and 3 work in the low-orbit slave state. After the switch is completed, low-orbit satellite 2 works in the low-orbit master state, and satellites 1 and 3 work in the low-orbit slave state.

[0080] (3) Dynamic handover of slave stars between low-orbit constellations.

[0081] Dynamic handover of slave stars between low-orbit star clusters Figure 6 The dynamic handover function from satellites can dynamically adjust the constellation architecture according to the target mission execution requirements or the relationship with the high-orbit link, thereby improving the overall operation efficiency of the low-orbit constellation and the coordination efficiency of the high and low orbits.

[0082] Initially, LEO slave 4 belongs to LEO constellation 1 and is managed by LEO master 1. After the handover, LEO slave 4 belongs to LEO constellation 2 and is managed by LEO master 2.

[0083] (4) Target Handover between Low-Earth Orbit Constellations

[0084] How to transfer targets between low-orbit satellite clusters Figure 7 As shown in the figure, the target handover function can dynamically select the dominant constellation to complete the task handover and carry out task planning and execution when the mission target and the relative spatial relationship between the satellites are changing rapidly, thus ensuring the continuity and stability of task execution while maintaining the stability of the constellation architecture. It can also dynamically balance the task allocation between constellations to improve the overall operation efficiency.

[0085] At the initial moment, target 1 belongs to low-orbit constellation 1, and is coordinated by satellites 1, 3, and 4. After the target handover, target 1 belongs to low-orbit constellation 2, and is coordinated by satellites 5, 6, and 7.

[0086] The present invention also proposes a high-orbit and low-orbit multi-satellite cluster mission coordination architecture and dynamic organization system, the system comprising a high-orbit satellite cluster, a low-orbit satellite cluster, and a ground control center;

[0087] The high-orbit star cluster is used to receive remote sensing observation tasks and perform initial observations on the remote sensing observation tasks; the observation tasks are initially assigned to a low-orbit star cluster at least according to the positions of the star clusters and the idle states of the payloads of the star clusters, and the main star of the low-orbit star cluster receives the observation tasks;

[0088] The master satellite of the low-orbit star cluster is used to secondary distribute the task to the slave satellites of the low-orbit star cluster to complete the observation task according to the type of the observation task and the status of each satellite in the constellation;

[0089] The slave satellite of the low-orbit constellation is used to maneuver the relevant payload to the region or airspace where the observation mission is located, perform observation and continuous tracking of the target; and after completing the target observation, feed back the observation results to the user;

[0090] The ground control center is used to monitor and intervene in the situation with all satellites in the constellation in real time during the execution of the observation mission. Moreover, as the satellite orbits, mission attributes and relative positions change, the dynamic organization of high- and low-orbit multi-satellite cluster missions specifically includes: dynamic handover of high- and low-orbit collaborative links, dynamic handover of master satellites within a low-orbit star cluster, dynamic handover of slave satellites between low-orbit star clusters, and dynamic handover of targets between low-orbit star clusters.

[0091] This system is similar to the scheme in the previous method embodiment, so it will not be described in detail.

[0092] In summary, the above are only preferred embodiments of the present invention and are not intended to limit the protection scope of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

[0093] It is obvious to those skilled in the art that the embodiments of the present invention are not limited to the details of the above exemplary embodiments, and that the embodiments of the present invention can be implemented in other specific forms without departing from the spirit or basic features of the embodiments of the present invention. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-restrictive, and the scope of the embodiments of the present invention is limited by the attached claims rather than the above description, so it is intended to include all changes that fall within the meaning and scope of the equivalent elements of the claims in the embodiments of the present invention. Any figure mark in the claims should not be regarded as limiting the claims involved. In addition, it is obvious that the word "comprising" does not exclude other units or steps, and the singular does not exclude the plural. Multiple units, modules or devices stated in the system, device or terminal claims can also be implemented by the same unit, module or device through software or hardware. The words first, second, etc. are used to indicate names, and do not indicate any particular order.

[0094] Finally, it should be noted that the above implementation modes 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 implementation modes, those skilled in the art should understand that the technical solutions of the embodiments of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A high-orbit and low-orbit multi-satellite cluster mission coordination architecture and dynamic organization method, characterized in that: The steps include: The high-orbit satellite cluster receives the remote sensing observation mission and performs initial observation on the remote sensing observation mission; The high-orbit star cluster initially allocates the observation task to a low-orbit star cluster at least according to the position of each star cluster and the idle state of the payload of each star cluster, and the main star of the low-orbit star cluster receives the observation task; The master star of the low-orbit star cluster secondary distributes the task to the slave stars of the low-orbit star cluster to complete the observation task according to the type of the observation task and the status of each satellite in the constellation; The slave satellites of the low-orbit constellation will maneuver the relevant payloads to the area or airspace where the observation mission is located to observe and continuously track the target; After the slave satellite of the low-orbit star cluster completes the target observation, the observation result is fed back to the user; During the execution of the above observation mission, the ground control center conducts situation monitoring and intervention with all satellites in the constellation in real time. Moreover, as the satellite orbits, mission attributes and relative positions change, the dynamic organization of high- and low-orbit multi-satellite cluster missions specifically includes: dynamic handover of high- and low-orbit collaborative links, dynamic handover of master satellites within a low-orbit star cluster, dynamic handover of slave satellites between low-orbit star clusters, and target handover between low-orbit star clusters. The dynamic handover of high-low orbit cooperative links includes two handover modes: high-low link handover within the low-orbit star cluster and high-low cooperative star cluster link handover, so as to meet the requirements for stable operation of high-low orbit links during the dynamic change of the high-low orbit spatial relationship; the high-low link handover within the low-orbit star cluster includes: when a star in the low-orbit star cluster maintains a link with a high-orbit star, several backup link stars are set at the same time to ensure that when the current link-building star leaves the high-orbit field of view or the link is abnormal, the link can be quickly re-established to restore the normal operation state; The high-low coordinated constellation link handover includes: reallocating the original corresponding low-orbit constellation in the high-orbit constellation; The dynamic handover of the master star in the low-orbit star cluster includes: exchanging the status of the master star and the slave star in the low-orbit star cluster; The dynamic handover of slave stars between low-orbit star clusters includes: adjusting a slave star in a certain low-orbit star cluster to another low-orbit star cluster and serving as a slave star under a master star of the other low-orbit star cluster; The target handover between low-orbit star clusters includes: adjusting the low-orbit star cluster that performs the observation task from the current low-orbit star cluster to another low-orbit star cluster.

2. The high-orbit multi-satellite cluster mission coordination architecture and dynamic organization method as claimed in claim 1, characterized in that: The remote sensing observation mission is a random observation mission captured by a high-orbit satellite, or a remote sensing observation mission generated by a ground system according to a plan, and is uploaded to the high-orbit satellite under the jurisdiction of the mission area.

3. The high-orbit multi-satellite cluster mission coordination architecture and dynamic organization method as claimed in claim 1, characterized in that: After the high-orbit constellation receives the remote sensing observation task, the straight-line distance between the task and the center of each constellation is considered, and based on the three-dimensional coordinates of the task center, the task is assigned to the constellation with the nearest constellation center for management; let the constellation center set be M, and the distance between the target and the i-th constellation center be dst i , if the calculation result of a certain cluster center j satisfies The high-orbit satellite then sends the task to the constellation management.

4. The high-orbit multi-satellite cluster mission collaborative architecture and dynamic organization method according to any one of claims 1 to 3, characterized in that: After the slave satellite of the low-orbit star cluster completes the target observation, the observation result is fed back to the user, including directly feeding back the observation result to the user; or feeding back the observation result to the user through the high-orbit satellite in the corresponding area.

5. A high-orbit and low-orbit multi-satellite cluster mission coordination architecture and dynamic organization system, characterized in that: The system includes a high-orbit constellation, a low-orbit constellation, and a ground control center; The high-orbit star cluster is used to receive remote sensing observation tasks and perform initial observations on the remote sensing observation tasks; Initially allocating the observation task to a low-orbit star cluster at least according to the position of each star cluster and the idle state of the payload of each star cluster, and receiving the observation task by the main star of the low-orbit star cluster; The master satellite of the low-orbit star cluster is used to secondary distribute the task to the slave satellites of the low-orbit star cluster to complete the observation task according to the type of the observation task and the status of each satellite in the constellation; The slave satellite of the low-orbit constellation is used to maneuver the relevant payload to the area or airspace where the observation mission is located, and perform observation and continuous tracking of the target; After completing the target observation, the observation results are fed back to the user; The ground control center is used to monitor and intervene in the situation with all satellites in the constellation in real time during the execution of the observation mission. In addition, as the satellite orbits, mission attributes and relative positions change, the dynamic organization of high- and low-orbit multi-satellite cluster missions specifically includes: dynamic handover of high- and low-orbit collaborative links, dynamic handover of master satellites within a low-orbit star cluster, dynamic handover of slave satellites between low-orbit star clusters, and target handover between low-orbit star clusters. The dynamic handover of high-low orbit cooperative links includes two handover modes: high-low link handover within the low-orbit star cluster and high-low cooperative star cluster link handover, so as to meet the requirements for stable operation of high-low orbit links during the dynamic change of the high-low orbit spatial relationship; the high-low link handover within the low-orbit star cluster includes: when a star in the low-orbit star cluster maintains a link with a high-orbit star, several backup link stars are set at the same time to ensure that when the current link-building star leaves the high-orbit field of view or the link is abnormal, the link can be quickly re-established to restore the normal operation state; The high-low coordinated constellation link handover includes: reallocating the original corresponding low-orbit constellation in the high-orbit constellation; The dynamic handover of the master star in the low-orbit star cluster includes: exchanging the status of the master star and the slave star in the low-orbit star cluster; The dynamic handover of slave stars between low-orbit star clusters includes: adjusting a slave star in a certain low-orbit star cluster to another low-orbit star cluster and serving as a slave star under a master star of the other low-orbit star cluster; The target handover between low-orbit star clusters includes: adjusting the low-orbit star cluster that performs the observation task from the current low-orbit star cluster to another low-orbit star cluster.

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