A method for determining a target star cluster of an observation task and a method for handing over an observation task

Abstract

The application discloses a kind of determination method and observation task handover method of target star group of observation task, it is related to space-based detection technical field.The specific implementation of the method includes: receiving observation task;Wherein, the observation target center point position of indication is observed;The first distance of the center point position and the main star of each star group is calculated;Each first distance is compared, according to the minimum value of the first distance, determine the target star group of the observation task.This embodiment can flexibly judge and adjust the execution star group of observation task according to the distance of observation target to the main star of each star group, to accurately track observation target, obtain optimal observation effect, greatly save manpower, computing power and time cost of observation, reasonably use on-board resource, achieve the effect of all-weather, full-area multi-star collaborative observation of multiple remote sensing observation tasks.

Description

Technical Field

[0001] This invention belongs to the field of space-based detection technology, specifically relating to a method for determining the target constellation for an observation mission and a method for handing over observation missions. Background Technology

[0002] Space-based observation refers to observations conducted by sensors located outside the Earth's atmosphere, such as remote sensing satellite constellations. By selecting constellations in different orbits, observations of the atmosphere, the Earth, or a combination thereof can be performed, obtaining diverse, multi-dimensional, and multi-level observational data of the targets.

[0003] As observation missions become increasingly complex, and given the short orbital periods and rapid changes in nadir points of satellites within each constellation, coupled with the highly variable motion of the observed targets, a single constellation often cannot complete the observation mission entirely. Multiple constellations frequently need to work in coordination to meet the observation requirements. In current constellation observation processes, ground stations typically divide the observation mission into multiple sub-observation tasks, assign them to multiple constellations for collaborative execution, and finally, the ground stations aggregate the results from each constellation, performing multi-level analysis and processing to obtain the final observation results.

[0004] However, the detailed division, multi-layer analysis, and processing of ground stations consume extremely high manpower and computing power costs. Moreover, the division results of ground stations are not entirely reasonable, which leads to repeated rework of observation tasks, wasting time and resources on the satellite. In particular, for dynamic observation targets, the existing ground station processing methods are not flexible enough to meet the observation needs of diverse observation tasks and complex observation target characteristics, resulting in poor observation results. Summary of the Invention

[0005] In view of this, the present invention provides a method for determining the target constellation of an observation mission and a method for handing over observation missions. It can flexibly determine and adjust the execution constellation of the observation mission based on the distance of the observation target to the main star of each constellation, thereby accurately tracking the observation target, obtaining the optimal observation effect, greatly saving the manpower, computing power and time costs of observation, making reasonable use of on-board resources, and achieving the effect of all-weather, all-area multi-star collaborative observation of various remote sensing observation missions.

[0006] The technical solution for implementing the present invention is as follows:

[0007] A method for determining target star clusters for an observation mission, characterized in that the method is performed by the primary stars of each star cluster, and the method includes:

[0008] Receive observation task; wherein the observation task indicates the location of the center point of the observation target;

[0009] Calculate the first distance between the center point and the primary star of each star cluster;

[0010] The target constellation for the observation mission is determined by comparing each of the first distances and using the minimum value of the first distance.

[0011] A method for handing over observation tasks in a multi-constellation collaborative manner, characterized in that the method is executed collaboratively by the primary stars of multiple constellations, and the method includes:

[0012] The primary star of the current star cluster sends the observation task handover request to the primary star of the target star cluster; wherein, the observation task handover request includes the handover time and the task identifier of the observation task;

[0013] The primary star of the current star cluster receives the handover response result returned by the primary star of the target star cluster;

[0014] The primary star of the current star cluster confirms the handover response from the primary star of the target star cluster. During the handover time, the primary star of the current star cluster removes the mission identifier of the observation mission from the mission planning information of the primary star of the current star cluster, and the primary star of the target star cluster adds the mission identifier of the observation mission to the mission planning information of the primary star of the target star cluster.

[0015] Optionally, if the primary star of the current star group confirms that the primary star of the target star group has not returned a handover response, the method further includes:

[0016] The primary star of the current star cluster repeatedly sends the observation task handover request to the primary star of the target star cluster.

[0017] Optionally, it also includes:

[0018] The primary satellite of the current constellation sends an observation task handover notification to the slave satellite performing the observation task.

[0019] Optionally, determining the observation task handover request includes:

[0020] Determine whether the target constellation of the observation mission is the current constellation. If so, divide the observation mission into multiple satellite missions based on the satellite status information of each slave star in the current constellation, and determine the slave star identifier of the slave star executing each satellite mission.

[0021] Each of the satellite missions is sent to the slave satellite corresponding to the slave satellite identifier, so that each of the slave satellites executes the corresponding satellite mission;

[0022] An observation task handover request is generated based on the task identifier of the observation task, the cluster identifier of the target star group, the primary star identifier of the target star group, the cluster identifier of the current star group, and the primary star identifier of the current star group.

[0023] Optionally, determining the observation task handover request includes:

[0024] According to a preset frequency, for each observation target, calculate the second distance from the observation target to the primary star of the next star cluster;

[0025] The second distance is compared with the third distance from the observed target to the main star of the current star cluster to obtain the difference between the third distance and the second distance, and it is determined whether the difference between the third distance and the second distance is greater than a preset distance threshold.

[0026] If so, the star cluster to which the primary star belongs corresponding to the second distance will be taken as the target star cluster for the observation mission corresponding to the observation target;

[0027] The observation task handover request is generated based on the task identifier of the observation task, the constellation identifier of the target constellation, the primary star identifier of the target constellation, the constellation identifier of the current constellation, and the primary star identifier of the current constellation.

[0028] Alternatively, if the observed target is outside the field of view of the current star cluster, the primary star of the current star cluster generates the observation task handover request.

[0029] Optionally, if the difference between the third distance and the second distance is not greater than the preset distance threshold, the method further includes:

[0030] The observation task corresponding to the observation target is assigned to the current star cluster.

[0031] Beneficial effects:

[0032] (1) The method for determining the target constellation of the observation mission and the method for handing over observation missions in multi-constellation collaboration of the present invention can be applied to the planning of constellation Earth observation missions, air observation missions or mixed missions with multiple satellites and multiple types of payloads, especially the mission planning of remote sensing satellite constellations in master-slave mode, to meet the observation needs of diverse observation missions and complex observation target characteristics.

[0033] (2) The multi-satellite cluster collaborative observation task handover method of the present invention can solve the problem that the observation targets of the existing remote sensing satellite clusters need to be scheduled and handed over between different satellite clusters when conducting space-based detection.

[0034] (3) The method for determining the target constellation for the observation mission of the present invention and the method for handing over observation missions in multi-constellation collaboration can use, but are not limited to, satellite constellations organized in a master-slave mode, such as high-orbit constellations, medium-orbit constellations, low-orbit constellations, and mixed high-, medium-, and low-orbit constellations. The types of missions targeted are applicable to, but are not limited to, ground-based missions, air-based missions, or mixed missions such as target detection, target tracking, and target identification.

[0035] (4) By using the observation task handover request generation method of the present invention, when the star cluster initially receives the observation task, the most suitable target star cluster for performing the observation task is determined according to the distance from the observation target to the main star of each star cluster; during the execution of the observation task by the star cluster, the most suitable target star cluster for observing the observation target is determined in real time according to the distance from the observation target to the main star of each star cluster or whether the observation target is within the field of view of the star cluster, so as to hand over the observation task to the target star cluster for management, so as to obtain the best observation effect. Attached Figure Description

[0036] Figure 1 This is a schematic diagram of the main flow of the method for determining the target star cluster for an observation mission according to an embodiment of the present invention.

[0037] Figure 2 This is a schematic diagram of the main flow of the method for generating observation task handover requests according to the first embodiment of the present invention.

[0038] Figure 3 This is a schematic diagram of the main process of the multi-constellation collaborative observation task handover method according to an embodiment of the present invention.

[0039] Figure 4 This is a schematic diagram of a multi-constellation collaborative scenario according to an embodiment of the present invention.

[0040] Figure 5 This is a schematic diagram of the main flow of the method for generating observation task handover requests according to the second embodiment of the present invention.

[0041] Figure 6(a) is a schematic diagram of the handover of observation tasks in multi-constellation collaborative observation according to an embodiment of the present invention.

[0042] Figure 6(b) is a schematic diagram of the handover of observation tasks in multi-constellation collaborative operation according to an embodiment of the present invention.

[0043] Figure 6(c) is a schematic diagram of the handover of observation tasks in multi-constellation collaborative operation according to an embodiment of the present invention. Detailed Implementation

[0044] A constellation is composed of multiple satellites that can communicate with each other to coordinate various observation tasks.

[0045] The master star is the central hub of a star cluster, responsible for unified information exchange between the cluster and the outside world. It can also manage and schedule the various slave stars within the cluster, assign tasks to each slave star, and optimize the observation effect of the entire star cluster when performing observation tasks.

[0046] Follower stars: These are satellites in a constellation other than the primary star. A constellation can contain multiple follower stars, which are used to receive scheduling from the primary star and use their onboard payloads to observe the target and perform specific observation tasks.

[0047] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0048] This invention provides a method for determining target constellations for an observation mission and a method for handing over observation targets in multi-constellation collaborative operation, such as... Figure 1 As shown, the method for determining the target star cluster for the observation mission of the present invention includes the following steps:

[0049] In this embodiment of the invention, the method for determining the target star cluster for the observation mission is performed by the primary star of each star cluster. Each star cluster includes one primary star and several secondary stars, and there is one and only one primary star in each star cluster.

[0050] Step 11, Receive observation task; wherein the observation task indicates the location of the center point of the observation target.

[0051] In this embodiment of the invention, the primary satellite of the constellation receives observation tasks including observation task data packets. The observation tasks can be injected by ground stations, injected by high-orbit satellites, generated autonomously by the primary satellite, or obtained from the handover of primary satellites from other constellations. The observation task data packets represent the specific task information of the observation tasks to be executed and are used for task triggering and task allocation by the primary satellite. The observation task data packets include task timestamps, task identifiers, task types, target identifiers of the observation targets, target categories of the observation targets, target status of the observation targets, target range of the observation targets, target center point location of the observation targets, requested payload types, payload spectral bands, task observation requirements, task resolution, etc.

[0052] In this embodiment of the invention, the task identifier can be a task ID. The task type can be an Earth observation task, such as plant mapping, plant spectroscopy, plant yield, mineral exploration, hydrological survey, forest survey, forest fire survey, river survey (e.g., whether there are natural disasters such as floods), map mapping, land area survey, etc.; or, the task type can be an air observation task, such as meteorological observation, weather forecasting, cloud observation, etc. The target identifier can be a target ID. The requested payload type can be an optical payload, such as infrared light, visible light, etc. (infrared light includes long-wave band, medium-long-wave band, etc.); or, the requested payload type can be a SAR payload, including multiple wavelength spectral bands; or, the requested payload type can be other types, corresponding to the same spectral band. The payload spectral band includes black and white, color, etc. It should be noted that the parameters of the observation task data package can be varied, and can be selectively set according to the actual observation target.

[0053] Step 12: Calculate the first distance between the center point and the primary star of each star cluster.

[0054] In this embodiment of the invention, the first distance between the center point of the observation target of the star cluster and the first distance between the main star of each star cluster is calculated. Assuming that the center point of the observation target is O and the set of main stars of each star cluster is M, for any main star m∈M (m∈1,2,3,...,M), the first distance dst(O,m) from the center point O of the observation target to the main star m is calculated.

[0055] Step 13: Compare each of the first distances, and determine the target star cluster of the observation mission based on the minimum value of the first distance.

[0056] In this embodiment of the invention, the primary star of each star cluster is compared with the first distance from the center point of the observed target to the primary star of each star cluster to determine the minimum value of the first distance dst(O,m), as shown in the following formula:

[0057]

[0058] The star cluster to which the primary star i of the star group belongs is the target star cluster of the observation mission. The necessary and sufficient condition for the observation mission to be assigned to the star cluster to which the primary star i belongs is as follows:

[0059]

[0060] That is, the star cluster whose primary star i is closest to the center point O of the observation target is taken as the target star cluster for the observation mission.

[0061] Furthermore, when the star cluster to which the primary star closest to the center point of the observation target belongs is the current star cluster, the target star cluster for the observation mission remains the current star cluster.

[0062] In embodiments of the present invention, such as Figure 2 As shown, the method for generating an observation task handover request according to the first embodiment of the present invention includes the following steps:

[0063] In this embodiment of the invention, the method for generating observation task handover requests in the first embodiment of the invention is executed by the primary star of each star cluster.

[0064] Step 21: Determine whether the target constellation of the observation mission is the current constellation. If yes, proceed to step 22; otherwise, proceed to step 24.

[0065] In this embodiment of the invention, the primary star of the current star cluster determines the target star cluster of the observation mission based on the observation target, and determines whether the target star cluster of the observation mission is the current star cluster.

[0066] Step 22: Based on the satellite status information of each slave star in the current constellation, divide the observation task into multiple satellite tasks and determine the slave star identifier of the slave star executing each satellite task.

[0067] In this embodiment of the invention, when the target constellation corresponding to the observation task is the current constellation, the primary star of the current constellation divides the observation task into multiple satellite tasks based on the satellite status information, including satellite status information data packets, sent by each slave star in the current constellation, and determines the slave star that executes each satellite task, thereby obtaining the correspondence between the satellite task and the slave star identifier of the slave star executing the satellite task.

[0068] In this embodiment of the invention, the satellite status information data packet includes a status timestamp, slave satellite identifier, slave satellite position, slave satellite attitude, available working time, payload 1 pointing, whether payload 1 is idle, payload 2 pointing, whether payload 2 is idle, payload 3 pointing, and whether payload 3 is idle. It is used to characterize the status and resources of the slave satellite, so as to facilitate the master satellite to uniformly monitor and manage each slave satellite, and to allocate satellite tasks, etc.

[0069] Step 23: Send each of the satellite missions to the slave satellites corresponding to the slave satellite identifiers, so that each of the slave satellites executes the corresponding satellite mission.

[0070] In this embodiment of the invention, based on the correspondence between satellite missions and the slave satellite identifiers of the slave satellites executing the satellite missions, the primary satellite of the current constellation sends the satellite missions to the corresponding slave satellites, enabling the slave satellites to execute the corresponding satellite missions.

[0071] Step 24: Generate an observation task handover request based on the task identifier of the observation task, the star cluster identifier of the target star cluster, the primary star identifier of the target star cluster, the star cluster identifier of the current star cluster, and the primary star identifier of the current star cluster.

[0072] In this embodiment of the invention, when the target constellation corresponding to the observation task is not the current constellation, the primary star of the current constellation generates an observation task handover request, including an observation task handover data packet, based on the task identifier of the observation task, the observation task data packet, the constellation identifier of the target constellation, the primary star identifier of the target constellation, the constellation identifier of the current constellation, and the primary star identifier of the current constellation. This is so that the observation task handover request can be sent to the primary star of the target constellation for management. The observation task handover data packet includes the handover time, the task identifier of the observation task, the observation task data packet of the observation task, the constellation identifier of the target constellation, the primary star identifier of the target constellation, the constellation identifier of the current constellation, and the primary star identifier of the current constellation.

[0073] In embodiments of the present invention, such as Figure 3As shown, the multi-constellation collaborative observation task handover method of the present invention includes the following steps:

[0074] In this embodiment of the invention, the multi-constellation collaborative observation task handover method of the present invention is executed collaboratively by the primary stars of multiple constellations. For example... Figure 4 As shown, the multi-constellation collaborative observation task handover method of the present invention is applicable to multi-constellation scenarios with at least two constellations. Each constellation includes a primary star and several secondary stars, and each constellation has one and only one primary star. Observation tasks can be switched between different constellations; however, for any given observation task, it can only be managed by a single constellation at any given time. For example, between constellation 1 and constellation 2, the observation task handover between constellation 1 and constellation 2 is performed by the primary star 1 of constellation 1 and the primary star 2 of constellation 2, transferring the observation task of constellation 1 to constellation 2 for execution.

[0075] Step 31: The primary star of the current star cluster sends the observation task handover request to the primary star of the target star cluster; wherein, the observation task handover request includes the handover time and the task identifier of the observation task.

[0076] In this embodiment of the invention, the primary star of the current star cluster sends an observation task handover request to the primary star of the target star cluster based on the star cluster identifier and the primary star identifier of the target star cluster indicated by the observation task handover request.

[0077] In embodiments of the present invention, such as Figure 5 As shown, the method for generating an observation task handover request according to the second embodiment of the present invention includes the following steps:

[0078] In this embodiment of the invention, the observation task handover request generation method of the first embodiment of the invention is applicable when the primary star of a star group initially receives the observation task but has not yet assigned the observation task. Based on the first distance between the observation target and the primary star of each star group, the star group to which the primary star closest to the observation target belongs is taken as the target star group, and an observation task handover request is generated.

[0079] The observation task handover request generation method of the second embodiment of the present invention is applicable to the process in which the master star of a constellation assigns the observation task to multiple satellite tasks and the satellite tasks are executed by the slave stars of the constellation. The master star of the constellation will generate an observation task handover request based on the comparison between the second distance between the observation target and the master star of each constellation and the third distance between the observation target and the current master star of the constellation. If the third distance is greater than a preset distance threshold of the second distance, the observation task will be handed over to the constellation corresponding to the second distance.

[0080] Step 51: Calculate the second distance from the observation target to the main star of the next star cluster for each observation target according to a preset frequency.

[0081] In this embodiment of the invention, while the primary star of the current star cluster is performing its observation task, it calculates the second distance from each observation target to the primary star of the next star cluster at a preset frequency. For example, the preset frequency is 1Hz.

[0082] Step 52: Compare the second distance with the third distance from the observed target to the main star of the current star cluster to obtain the difference between the third distance and the second distance.

[0083] In this embodiment of the invention, the third distance from the observed target to the primary star of the current star cluster is calculated, as well as the difference between the third distance and the second distance.

[0084] Step 53: Determine whether the difference between the third distance and the second distance is greater than a preset distance threshold. If yes, proceed to step 54; otherwise, proceed to step 56.

[0085] In this embodiment of the invention, in order to ensure the smooth execution of the observation mission and the integrity of the observation target, a preset distance threshold is set to avoid frequent handover of observation missions between star clusters.

[0086] Taking the current star cluster S as an example, for the observation target k of star cluster S, calculate the second distance dst(k,s') from the observation target k to the primary star s' of the next star cluster S', and the third distance dst(k,s) from the observation target k to the primary star s of the current star cluster S. The preset distance threshold is Nkm. Determine whether the difference between the third distance and the second distance is greater than the preset distance threshold, as shown in the following formula:

[0087]

[0088] In the above formula:

[0089] N is a positive real number, and the value of N can be selectively set according to the actual applicable scenario, for example, 100.

[0090] Step 54: The star cluster to which the primary star corresponding to the second distance belongs is taken as the target star cluster of the observation mission corresponding to the observation target.

[0091] In this embodiment of the invention, when the difference between the third distance and the second distance is greater than a preset distance threshold, the primary star of the current star cluster will be the star cluster to which the primary star corresponding to the second distance belongs as the target star cluster for the observation mission.

[0092] Step 55: Generate the observation task handover request based on the task identifier of the observation task, the star cluster identifier of the target star cluster, the primary star identifier of the target star cluster, the star cluster identifier of the current star cluster, and the primary star identifier of the current star cluster.

[0093] In this embodiment of the invention, the primary star of the current star cluster generates an observation task handover request, which includes an observation task handover data packet, based on the task identifier of the observation task, the observation task data packet, the star cluster identifier of the target star cluster, the primary star identifier of the target star cluster, the star cluster identifier of the current star cluster, and the primary star identifier of the current star cluster.

[0094] In an embodiment of the present invention, or when the observed target exceeds the field of view of the current star cluster, the primary star of the current star cluster generates the observation task handover request.

[0095] Step 56: Determine the current constellation to which the observation task corresponding to the observation target belongs.

[0096] In this embodiment of the invention, when the difference between the third distance and the second distance is not greater than a preset distance threshold, the observation task corresponding to the observation target does not need to be handed over and can be executed by the current star group. That is, the observation task belongs to the current star group.

[0097] Step 32: The primary star of the current star group receives the handover response result returned by the primary star of the target star group.

[0098] In this embodiment of the invention, after receiving the observation task handover request, the primary star of the target constellation returns a handover response result, including a handover response data packet, to the primary star of the current constellation; wherein, the handover response data packet includes a handover response timestamp, the primary star identifier of the target constellation, and a handover executable identifier.

[0099] In this embodiment of the invention, the handover executable flag indicates that the primary star of the target constellation has been determined to be ready for handover and management of the observation task.

[0100] Step 33: The primary star of the current star cluster confirms whether the primary star of the target star cluster has returned a handover response result. If yes, proceed to step 34; otherwise, proceed to step 35.

[0101] Step 34: During the handover time, the primary star of the current star cluster removes the mission identifier of the observation mission from the mission planning information of the primary star of the current star cluster, and the primary star of the target star cluster adds the mission identifier of the observation mission to the mission planning information of the primary star of the target star cluster.

[0102] In this embodiment of the invention, when the primary star of the current star cluster confirms that the primary star of the target star cluster has returned a handover response, the primary star of the current star cluster and the primary star of the target star cluster determine whether the handover time has arrived. Before the handover time arrives, the primary star of the current star cluster still manages the observation task and monitors the observation target corresponding to the observation task. When the handover time arrives, the primary star of the current star cluster removes the task identifier of the observation task from the task planning information of the primary star of the current star cluster, and the primary star of the target star cluster adds the task identifier of the observation task to the task planning information of the primary star of the target star cluster.

[0103] Furthermore, when the handover time arrives, the primary star of the current star cluster removes the observation mission data packet of the current star cluster from the mission planning information of the primary star of the current star cluster, and the primary star of the target star cluster adds the observation mission data packet of the target star cluster to the mission planning information of the primary star of the target star cluster.

[0104] In this embodiment of the invention, after the primary star of the target constellation is given an observation task, the primary star of the target constellation is equivalent to receiving a new observation task. Therefore, the primary star of the target constellation can re-execute the method for determining the target constellation of the observation task of the present invention to determine the constellation to which the observation task belongs.

[0105] In this embodiment of the invention, after the primary star of the current constellation removes the observation task from the mission planning information of the primary star of the current constellation, it sends an observation task handover notification to each slave star of the current constellation, so that each slave star stops executing the satellite mission corresponding to the observation task, that is, stops continuing to track the observation target.

[0106] Furthermore, the primary satellite in the current constellation only sends observation task handover notifications to the satellites performing the corresponding observation tasks. In other words, the primary satellite in the current constellation only sends observation task handover notifications to the satellites tracking the observation target.

[0107] Step 35: The primary star of the current star cluster repeatedly sends the observation task handover request to the primary star of the target star cluster.

[0108] In this embodiment of the invention, if the primary star of the current star cluster confirms that the primary star of the target star cluster has not returned a handover response, the observation task handover request is repeatedly sent to the primary star of the target star cluster to ensure the smooth handover of the observation task; wherein, the repetition period can be once every 2 seconds.

[0109] In this embodiment of the invention, the handover process for the multi-constellation collaborative observation mission is as follows: Figures 6(a)-6(c) As shown:

[0110] As shown in Figure 6(a), according to a preset frequency, the primary satellite 1 of constellation 1 monitors the second distance from the observation target to the primary satellite 2 of constellation 2 in real time. When the difference between the third distance from the observation target to the primary satellite 1 of constellation 1 and the second distance is greater than a preset distance threshold, a handover request for observation task 1 corresponding to the observation target is generated and sent to the primary satellite 2 of constellation 2. As shown in Figure 6(b), when the handover time arrives, the primary satellite 1 of constellation 1 hands over observation task 1 to the primary satellite 2 of constellation 2. As shown in Figure 6(c), after the handover is completed, the primary satellite 2 of constellation 2 manages observation task 1, assigns satellite tasks to it, and receives status information from satellites.

[0111] 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.

Claims

1. A method for multi-constellation cooperative observation task handover, characterized in that, This includes methods for determining the target star clusters for observation missions and methods for handing over observation missions. The determination method is performed by the primary star of each star cluster, and the determination method includes: Receive observation task; wherein the observation task indicates the location of the center point of the observation target; Calculate the first distance between the center point and the primary star of each star cluster; The target constellation for the observation mission is determined by comparing each of the first distances and using the minimum value of the first distance. The observation task handover method is executed collaboratively by the primary stars of multiple star clusters, and the observation task handover method includes: The primary star of the current star cluster sends the observation task handover request to the primary star of the target star cluster; wherein, the observation task handover request includes the handover time and the task identifier of the observation task; The primary star of the current star cluster receives the handover response result returned by the primary star of the target star cluster; The primary star of the current star cluster confirms the return of the handover response result from the primary star of the target star cluster. During the handover time, the primary star of the current star cluster removes the mission identifier of the observation mission from the mission planning information of the primary star of the current star cluster, and the primary star of the target star cluster adds the mission identifier of the observation mission to the mission planning information of the primary star of the target star cluster. Determining the observation task handover request includes: According to a preset frequency, for each observation target, calculate the second distance from the observation target to the primary star of the next star cluster; The second distance is compared with the third distance from the observed target to the main star of the current star cluster to obtain the difference between the third distance and the second distance, and it is determined whether the difference between the third distance and the second distance is greater than a preset distance threshold. If so, the star cluster to which the primary star corresponding to the second distance belongs is taken as the target star cluster of the observation task corresponding to the observation target; determine whether the target star cluster of the observation task is the current star cluster; if not, generate an observation task handover request. The observation task handover request is generated based on the task identifier of the observation task, the constellation identifier of the target constellation, the primary star identifier of the target constellation, the constellation identifier of the current constellation, and the primary star identifier of the current constellation.

2. The observation task handover method according to claim 1, wherein If the primary star of the current star cluster confirms that the primary star of the target star cluster has not returned a handover response, the method further includes: The primary star of the current star cluster repeatedly sends the observation task handover request to the primary star of the target star cluster.

3. The observation task handover method according to claim 1, wherein Also includes: The primary satellite of the current constellation sends an observation task handover notification to the slave satellites performing the corresponding observation tasks.

4. The observation task handover method according to claim 1, wherein Determining the observation task handover request includes: Determine whether the target constellation of the observation mission is the current constellation. If so, divide the observation mission into multiple satellite missions based on the satellite status information of each slave star in the current constellation, and determine the slave star identifier of the slave star executing each satellite mission. Each of the satellite missions is sent to the slave satellite corresponding to the slave satellite identifier, so that each of the slave satellites executes the corresponding satellite mission; According to the task identifier of the observation task, the star cluster identifier of the target star cluster, the main star identifier of the target star cluster, the star cluster identifier of the current star cluster, and the main star identifier of the current star cluster, an observation task handover request is generated.

5. The observation task handover method according to claim 1, wherein Alternatively, in a case where the observation target exceeds the star cluster field of view of the current star cluster, the main star of the current star cluster generates the observation task handover request.

6. The method of claim 4, wherein, In a case where the difference between the third distance and the second distance is not greater than the preset distance threshold, further comprising: It is determined that the observation task corresponding to the observation target belongs to the current star cluster.

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