A method for dividing a star cluster and a method for handing over a slave star in coordination with multiple star clusters

Abstract

The present invention discloses a method for dividing star clusters and a method for handing over slave satellites in collaboration with multiple star clusters, and relates to the field of space-based detection technology. The specific implementation of the method includes: for each slave star of any star cluster, calculating the first distance from the slave star to the central control center of each star cluster; comparing multiple first distances to determine the minimum value of the first distance; determining the star cluster to which the central control center corresponding to the minimum value of the first distance belongs as the target star cluster of the slave star. This implementation can compare the distances of each satellite in the star cluster relative to the center of each star cluster, determine the optimal star cluster to which the satellite belongs, thereby improving the satellite utilization rate during the execution of observation tasks, and rationally utilizing on-board resources, and the slave satellites between star clusters can be flexibly switched based on the distance relative to the center of each star cluster, so as to observe the observation target, so that the observation effect of the entire star cluster is optimal, and is suitable for various mission scenarios.

Description

Technical Field

[0001] The present invention belongs to the field of space-based detection technology, and in particular relates to a star cluster division method and a slave satellite handover method for multi-star cluster collaboration. Background Art

[0002] Space-based detection refers to observations with sensors outside the Earth's atmosphere, such as remote sensing satellite constellations. By selecting constellations with different orbits, it is possible to conduct air, ground or mixed observations, and obtain observation data of diverse, multi-dimensional and multi-level observation targets.

[0003] In the existing constellation observation process, the roles of the master and slave satellites of each constellation are fixed, and the roles of the slave satellites depend on the initial specified settings and do not change over time. When performing observation tasks, the master satellite manages and schedules the satellite tasks of the slave satellites, thereby realizing the observation of the ground, air or mixed targets.

[0004] However, on the one hand, the initially designated star constellations are usually divided randomly, and some satellites in the same star constellation may be far away from the central control center, resulting in a heavy communication load on the satellites and a waste of onboard resources when performing observation missions. On the other hand, due to the large number of star constellations and the complexity of observation missions, the satellites have a short orbital period when performing observation missions around the earth, and the flexibility of the designated star constellations is too poor to meet the observation requirements of diverse observation missions and complex characteristics of the observation targets, resulting in poor observation effects of the observation targets. Summary of the invention

[0005] In view of this, the present invention provides a star cluster division method and a slave satellite handover method for multi-star cluster collaboration, which can compare the distances of each satellite in a star cluster relative to the center of each star cluster, determine the optimal star cluster to which the satellite belongs, thereby improving the satellite utilization rate when executing observation tasks and rationally utilizing on-board resources. In addition, slave satellites between star clusters can be flexibly switched based on the distances relative to the centers of each star cluster, so as to observe the observation targets, thereby optimizing the observation effect of the entire star cluster and being suitable for various mission scenarios.

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

[0007] A method for dividing a star cluster, the method for dividing a star cluster being executed by a ground station, the method comprising:

[0008] For each slave star of any star cluster, calculating a first distance from the slave star to the central control center of each star cluster;

[0009] Compare multiple first distances to determine the minimum value of the first distance;

[0010] The star cluster to which the central control center corresponds to the minimum value of the first distance belongs is determined as the target star cluster of the slave star.

[0011] A method for executing a star cluster division method, the method being executed by the ground station, each satellite of the target star cluster and the slave satellite, the method comprising:

[0012] The ground station generates a star cluster division instruction according to the star cluster identifier of the target star cluster and sends the instruction to the target star cluster and the slave satellite; wherein the star cluster division instruction indicates a division activation time;

[0013] The ground station receives the division response results returned by each satellite of the target star group and the slave satellite;

[0014] In the case that all satellites of the target star constellation and the slave satellite return the division response result, at the division activation time, the master satellite of the target star constellation adds the slave satellite identifier of the slave satellite to the target star constellation.

[0015] Optionally, when the ground station does not receive a division response result from any satellite of the target constellation or the slave satellite, the ground station repeatedly sends the constellation division instruction.

[0016] A slave satellite handover method for multiple star clusters is provided, wherein the slave satellite handover method for multiple star clusters is performed by master satellites of each star cluster, the master satellite of the target handover star cluster, and the slave satellite to be handed over, and the method comprises:

[0017] The master star of the current star constellation initiates a slave star handover request to the master star of the target handover star constellation and the slave star to be handed over; wherein the slave star handover request indicates the handover time, the master star identifier of the target handover star constellation and the slave star identifier of the slave star to be handed over;

[0018] The master star of the target handover star group and the slave star to be handed over receive the slave star handover request and return a handover response result;

[0019] The master star of the current star group receives the handover response result returned by the master star of the target handover star group and the slave star to be handed over;

[0020] When the master star of the current star constellation receives the handover response result from the master star of the target handover star constellation and the slave star to be handed over, at the handover time, in response to the slave star handover request, the master star of the current star constellation removes the slave star to be handed over, the master star of the target handover star constellation adds the slave star identifier of the slave star to be handed over to the constellation information of the target handover star constellation, the slave star to be handed over changes the identifier of its constellation to the constellation identifier of the target handover star constellation, and changes the corresponding master star identifier to the master star identifier of the master star of the target handover star constellation.

[0021] Optionally, when a handover response result is not received from the master star of the target handover star cluster or the slave star to be handed over, the slave star handover request is sent repeatedly.

[0022] Optionally, it also includes:

[0023] A1: Calculate, for each slave star in the star cluster, a second distance from the slave star to the central control center of the next star cluster according to a preset frequency;

[0024] A2: Compare the second distance with the third distance from the star to the central control center of the current star cluster to obtain a difference between the third distance and the second distance, and determine whether the difference between the third distance and the second distance is greater than a preset distance threshold;

[0025] A3: If yes, the star cluster to which the central control center corresponding to the second distance belongs is used as the target handover star cluster of the slave star, and the slave star handover request is generated according to the star cluster identifier of the target handover star cluster.

[0026] Optionally, or alternatively, determining the slave satellite handover request includes:

[0027] Steps A1-A3 are executed in a loop until it is determined that the star cluster corresponding to the central control center closest to the slave star is the target handover star cluster, so as to generate the slave star handover request.

[0028] Beneficial effects:

[0029] (1) The constellation division method and the slave satellite handover method for multi-constellation collaboration of the present invention can meet the collaborative planning requirements of multi-satellite and multi-type payload constellation for ground, air or mixed observation tasks, and is suitable for the division of remote sensing satellite constellations in master-slave mode and the slave satellite handover between constellations.

[0030] (2) The constellation division method and the slave satellite handover method for multi-constellation collaboration of the present invention are applicable to, but not limited to, satellite constellations organized in a dynamic master-slave mode, such as high-orbit constellations, medium-orbit constellations, low-orbit constellations, and mixed high-, medium- and low-orbit constellations, and can be used to perform various types of observation tasks, such as ground surveying and mapping, meteorological observation, target detection, target tracking, target identification, and other ground, air or mixed tasks.

[0031] (3) The star cluster division method and the slave satellite handover method of multi-star cluster collaboration of the present invention can solve the problem of task allocation and scheduling caused by the inability to switch slave satellites during space-based detection in existing remote sensing satellite clusters. For a single-master star mode star cluster, dynamic switching of slave satellites between multiple star clusters can be achieved, that is, the role of the slave satellite can be switched over time to adapt to changing task scenarios, ensure the normal execution of observation tasks, and meet the space-based detection needs of diverse observation tasks and complex observation target characteristics.

[0032] (4) Through the method for generating the star cluster division instruction of the present invention, the slave star is divided into the star cluster corresponding to the central control center closest to the slave star according to the distance of the slave star relative to the central control center of each star cluster, thereby reducing the communication load of the satellite and rationally utilizing the on-board resources.

[0033] (5) Through the method for generating a slave satellite handover request of the present invention, for a star cluster that meets the slave satellite handover rule (the difference between the distance of the slave satellite relative to the central control center of the current star cluster and the distance relative to the central control center of other star clusters is greater than a preset distance threshold), the slave satellite switching process is started to perform the slave satellite handover, so that the operation of the star cluster is not affected. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 Schematic diagram of the main process of the method for dividing a star cluster according to an embodiment of the present invention Figure 1 .

[0035] Figure 2 Schematic diagram of a method for dividing a star cluster according to an embodiment of the present invention Figure 2 .

[0036] Figure 3 It is a schematic diagram of the main process of the execution method of star cluster division according to an embodiment of the present invention.

[0037] Figure 4 Schematic diagram of the main process of the multi-constellation coordinated slave satellite handover method according to an embodiment of the present invention Figure 1 .

[0038] Figure 5 Schematic diagram of a slave satellite handover method for multi-constellation collaboration according to an embodiment of the present invention Figure 2 .

[0039] Figure 6 It is a schematic diagram of the main process of the method for determining a slave satellite handover request according to an embodiment of the present invention.

[0040] FIG. 7( a ) is a schematic diagram of a slave satellite before handover of multi-constellation collaboration according to an embodiment of the present invention.

[0041] FIG7( b ) is a schematic diagram of slave satellite handover in multi-constellation collaboration according to an embodiment of the present invention.

[0042] FIG7( c ) is a schematic diagram of a slave satellite after handover of a multi-constellation collaboration according to an embodiment of the present invention. DETAILED DESCRIPTION

[0043] Constellation: It is composed of multiple satellites that can communicate with each other to coordinate various observation tasks.

[0044] Master star: refers to the center of a star cluster, which is responsible for the unified information exchange between the star cluster and the outside world, and can manage and dispatch the slave stars within the star cluster, assign tasks to each slave star, so that the entire star cluster can achieve the best observation effect of the observation target when performing observation tasks.

[0045] Slave satellite: refers to the satellite in the star cluster other than the master satellite. A star cluster can contain multiple slave satellites, which are used to receive the scheduling of the master satellite and observe the observation target using the on-satellite payload to perform specific observation tasks.

[0046] Central control center: refers to the control center of each star cluster, which is determined by the guiding party of the star cluster. The control centers of different star clusters can be the same or different. For example, for a low-orbit satellite cluster that receives guidance information (including observation tasks, satellite role configuration instructions, etc.) sent by high-orbit satellites, the central control center of the low-orbit satellite cluster is the high-orbit satellite; for a high-orbit satellite cluster that receives guidance information sent by a ground station, the central control center of the high-orbit satellite cluster is the ground station. The central control center is an abstract concept. The division of the star clusters to which slaves belong and the dynamic switching of slaves revolve around the central control center, which is determined by the distance of the slaves relative to each central control center.

[0047] The present invention is described in detail below with reference to the accompanying drawings and embodiments.

[0048] The present invention provides a method for dividing a star cluster. Figure 1 As shown, the star cluster division method of the present invention comprises the following steps:

[0049] In the embodiment of the present invention, the star cluster division method of the present invention is executed by a ground station, each star cluster includes a master star and a plurality of slave stars, each star cluster corresponds to a central control center, each star cluster has and only has one master star, and each star cluster corresponds to only one central control center. The number of slave stars in a star cluster can vary, but a slave star can only belong to one star cluster at any time.

[0050] In the embodiment of the present invention, the role of the master star of each star cluster remains unchanged, and the star cluster division is to divide the slave stars of each star cluster and determine the target star cluster to which the slave stars belong.

[0051] Step 11: For each slave star of any star cluster, calculate a first distance from the slave star to the central control center of each star cluster.

[0052] In the embodiment of the present invention, the original state of each star cluster is usually randomly distributed. In order to reasonably arrange the slave stars of each star cluster to optimize the observation task, the ground station needs to determine the target star cluster to which the slave stars belong, so as to reasonably divide each star cluster.

[0053] In the embodiment of the present invention, the ground station calculates the first distance from the slave star to the central control center of each star cluster for each slave star of any star cluster. Assuming that the central control center set of the central control center of each star cluster is M, for any slave star s∈S of a star cluster S, the first distance dst(s,m) from the star s to each central control center m∈M is calculated.

[0054] In the embodiment of the present invention, before calculating the first distance from each slave star to the central control center of each star cluster for each slave star of any star cluster, the method further includes:

[0055] The central control center of each of the star clusters is determined, and the central information of each of the central control centers is stored, so as to facilitate the subsequent ground station to divide the target star clusters of each slave star.

[0056] For example, Figure 2 As shown, the ground station calculates the first distances from satellite 1 of constellation 1 to the central control center of constellation 1 and the central control center of constellation 2 respectively.

[0057] Step 12: compare multiple first distances to determine the minimum value of the first distances.

[0058] In the embodiment of the present invention, for any slave star s∈S of a star cluster S, the first distances dst(s,m) from the slave star s to each central control center m∈M (m∈1, 2, 3, ..., M) are compared to determine the minimum value of the first distance dst(s,m), as shown in the following formula:

[0059]

[0060] For example, Figure 2 As shown, the ground station compares multiple first distances from satellite 1 of constellation 1 to the central control center of constellation 1 and the central control center of constellation 2.

[0061] Step 13: determine the star cluster to which the central control center corresponding to the minimum value of the first distance belongs as the target star cluster of the slave star.

[0062] In the embodiment of the present invention, the ground station uses the star cluster to which the central control center i corresponding to the minimum value of the first distance belongs as the target star cluster of the slave star s. The necessary and sufficient conditions for the slave star s to be classified as the star cluster to which the central control center i belongs are as follows:

[0063]

[0064] That is, the ground station takes the star cluster corresponding to the central control center i closest to the slave star s as the target star cluster of the slave star.

[0065] Further, when the central control center closest to the slave star is the current central control center corresponding to the current star cluster to which the slave star belongs, the target star cluster of the slave star is still the current star cluster.

[0066] In the embodiment of the present invention, Figure 3 As shown, the method for executing the star cluster division of the present invention comprises the following steps:

[0067] In an embodiment of the present invention, the method for executing the star constellation division of the present invention is executed by a ground station, each satellite of the target star constellation, and a slave satellite to be divided into the target star constellation.

[0068] Step 31: the ground station generates a constellation division instruction according to the constellation identifier of the target constellation and sends it to the target constellation and the slave satellite; wherein the constellation division instruction indicates a division activation time.

[0069] In an embodiment of the present invention, a ground station sends a constellation division instruction including a constellation division data packet to each satellite of a target constellation and a slave satellite to be divided into the target constellation, thereby completing constellation division; wherein the constellation division data packet includes a division activation time, a constellation identifier of the target constellation, a master satellite identifier of the target constellation, and a slave satellite identifier of the target constellation.

[0070] In the embodiment of the present invention, the constellation identifier may be a constellation ID, the master star identifier may be a master star ID, and the slave star identifier may be a slave star ID. Since each constellation includes multiple slave stars, the slave star identifiers of each constellation may be arranged in ascending order, for example, slave star 1 ID, slave star 2 ID, slave star n ID, ...

[0071] Further, the primary star identifier and the secondary star identifier may include the constellation identifier of the corresponding constellation, for example, constellation ID-primary star ID, constellation ID-secondary star ID.

[0072] Step 32: the ground station receives the division response results returned by each satellite of the target constellation and the slave satellite.

[0073] In an embodiment of the present invention, after receiving the star cluster division instruction, each satellite of the target star cluster and the slave star to be divided into the target star cluster returns a division response result including a division response data packet to the ground station; wherein the division response data packet includes a division response timestamp, a master star identifier or a slave star identifier of the target star cluster, and a division executable identifier.

[0074] In an embodiment of the present invention, the partition executable flag indicates that the master star of the target star constellation is determined to be able to manage the slave star to be added; or, the partition executable flag indicates that the slave star of the target star constellation receives a partition notification; or, the partition executable flag indicates that the slave star to be partitioned into the target star constellation receives a partition notification.

[0075] Step 33, the ground station confirms whether all satellites of the target constellation and the slave satellites have returned the division response results. If yes, go to step 34; if not, go to step 35.

[0076] Step 34: at the division activation time, each satellite of the target constellation and the slave satellite execute the constellation division instruction.

[0077] In the embodiment of the present invention, after the ground station determines that all satellites of the target star cluster and slave stars to be divided into the target star cluster have returned division response results, each satellite of the target star cluster and slave stars to be divided into the target star cluster update the star cluster information of the target star cluster, including:

[0078] The master star of the target star cluster saves the slave star identifications of the slave stars assigned to the target star cluster, adds them to the target star cluster and manages them; the master star of the target star cluster monitors the satellite status of the slave stars assigned to the target star cluster, assigns satellite tasks to them, processes slave star handover requests, etc.

[0079] Step 35: the ground station repeatedly sends the constellation division instruction to the satellites that have not sent the division response result.

[0080] In an embodiment of the present invention, when the ground station does not receive a division response result from any satellite, it repeatedly sends a constellation division instruction to the satellite that has not sent a division response result to ensure the successful sending of the constellation division instruction to complete the constellation division; wherein the repetition period may be once every 2 seconds.

[0081] In the embodiment of the present invention, Figure 4 As shown, the multi-constellation coordinated slave satellite handover method of the present invention includes the following steps:

[0082] In an embodiment of the present invention, the slave satellite handover method of the multi-constellation collaboration of the present invention is executed collaboratively by master satellites of multiple constellations.

[0083] Furthermore, if Figure 5 As shown, the slave handover method of multi-constellation collaboration of the present invention is applicable to multi-constellation scenarios of at least two constellations, each constellation includes a master star and several slave stars, each constellation corresponds to a central control center, each constellation has and only has one master star, and each constellation corresponds to only one central control center. The number of slave stars in a constellation can vary, but a slave star can only belong to one constellation at any time, and the slave star can dynamically switch between various constellations, and the target handover constellation to which the slave star belongs is determined by the master star. For example, between constellation 1 and constellation 2, the slave star handover between constellation 1 and constellation 2 is performed by master star 1 of constellation 1 and master star 2 of constellation 2, and the 1-slave star 2 of constellation 1 is handed over to constellation 2, so that the 1-slave star 2 is removed from constellation 1 and becomes the 2-slave star 3 of constellation 2, and the master star 2 of constellation 2 manages the 2-slave star 3.

[0084] Step 41, initiating a slave star handover request to the master star of the target handover star cluster and the slave star to be handed over; wherein the slave star handover request indicates the handover time, the master star identifier of the target handover star cluster and the slave star identifier of the slave star to be handed over.

[0085] In an embodiment of the present invention, the master star of the current star cluster initiates a slave star handover request of the slave star to be handed over to the target handover star cluster, so that the slave star to be handed over can be switched to the slave star under the target handover star cluster in the subsequent handover process. The slave star handover request includes a slave star handover data packet, and the slave star handover data packet includes the handover time, the star cluster identifier of the current star cluster, the master star identifier of the current star cluster, the star cluster identifier of the target handover star cluster, the master star identifier of the target handover star cluster, and the slave star identifier of the slave star to be handed over. Among them, the central control center of the target handover star cluster is the central control center closest to the slave star to be handed over.

[0086] Step 42: receiving the handover response results returned by the master star of the target handover star cluster and the slave star to be handed over.

[0087] In an embodiment of the present invention, after the master star of the target handover star cluster and the slave star to be handed over receive the slave star handover request, they return a handover response result including a handover response data packet to the master star of the current star cluster; wherein the handover response data packet includes a handover response timestamp, the master star identifier of the target handover star cluster or the slave star identifier of the slave star to be handed over, and a handover executable identifier.

[0088] In the embodiment of the present invention, the handover executable flag indicates that the master star of the target handover star cluster is determined to be able to manage the slave star to be handed over; or, the handover executable flag indicates that the slave star to be handed over receives a handover notification.

[0089] Step 43, confirm whether the master star of the target handover star group and the slave star to be handed over return a handover response result, if yes, go to step 44; if not, go to step 45.

[0090] Step 44: at the handover time, in response to the slave satellite handover request, remove the slave satellite to be handed over.

[0091] In an embodiment of the present invention, when the master star of the current star cluster receives the handover response results of the master star of the target handover star cluster and the slave star to be handed over, until the handover time of the slave star handover request arrives, the master star to be handed over still belongs to the management of the master star of the current star cluster. When the master star of the current star cluster determines that the handover time of the slave star handover request has arrived, the management of the slave star to be handed over is removed (that is, the slave star to be handed over is deleted). The master star of the target handover star cluster adds the slave star to be handed over to the target handover star cluster, and accordingly, the slave star to be handed over is called the handed over slave star of the target handover star cluster, so that the master star of the target handover star cluster enables the management of the handed over slave star.

[0092] In the embodiment of the present invention, the master star of the target handover star group and the slave star to be handed over execute the slave star handover request, including:

[0093] The master star of the target handover star group and the slave star to be handed over determine whether the handover time has arrived;

[0094] If so, the master star of the target handover star constellation adds the slave star identifier of the slave star to be handed over to the constellation information of the target handover star constellation, the slave star to be handed over changes the identifier of its constellation to the constellation identifier of the target handover star constellation, and changes the corresponding master star identifier to the master star identifier of the master star of the target handover star constellation.

[0095] Therefore, the master satellite of the target handover constellation monitors the satellite status of the slave satellite to be handed over to the target handover constellation, allocates satellite tasks to it, processes the slave satellite handover request, etc., to realize the handover of the slave satellite.

[0096] Step 45: Repeat sending the slave satellite handover request to the master satellite of the target handover satellite cluster or the slave satellite to be handed over that has not sent the handover response result.

[0097] In an embodiment of the present invention, when the master star of the current star cluster has not received the handover response result from the master star of the target handover star cluster or the slave star to be handed over, the slave star handover request is repeatedly sent to the master star of the target handover star cluster that has not sent the handover response result or the slave star to be handed over, to ensure the correct sending of the slave star handover request, so as to ensure the success of the slave star handover; wherein the repetition period can be once every 2 seconds.

[0098] In the embodiment of the present invention, Figure 6 As shown, the method for determining a slave satellite handover request of the present invention comprises the following steps:

[0099] In an embodiment of the present invention, the method for determining the slave satellite handover request of the present invention is executed by the master satellite of each star cluster. When the distance between the slave satellite and the central control center of the current star cluster is too large, the communication load between the slave satellite and the central control center will increase accordingly. Communication with the hollow center of the current star cluster and the master satellite will consume on-board resources. Therefore, it is necessary to change the star cluster affiliation of the slave satellite to reasonably allocate and utilize on-board resources.

[0100] Step 61 : calculating, for each slave star in the star cluster, a second distance from the slave star to the central control center of the next star cluster according to a preset frequency.

[0101] In the embodiment of the present invention, while performing the observation task, the master star of the star cluster will calculate the second distance from the slave star to the central control center of the next star cluster for each slave star in the star cluster according to a preset frequency. For example, the preset frequency is 1 Hz.

[0102] Step 62, comparing the second distance with the third distance from the star to the central control center of the current star cluster to obtain a difference between the third distance and the second distance.

[0103] In the embodiment of the present invention, the main star of the constellation calculates a third distance from the star to the central control center of the current constellation, and a difference between the third distance and the second distance.

[0104] Step 63 , determining whether the difference between the third distance and the second distance is greater than a preset distance threshold, if yes, go to step 64 ; if no, go to step 66 .

[0105] In the embodiment of the present invention, taking the current star cluster as the star cluster S as an example, for the slave star s of the star cluster S, the second distance dst(s, m') from the star s to the central control center m' of the next star cluster S' and the third distance dst(s, m) from the star s to the central control center m of the current star cluster S are calculated, the preset distance threshold is Nkm, and it is determined whether the difference between the third distance and the second distance is greater than the preset distance threshold, as shown in the following formula:

[0106]

[0107] In the above formula:

[0108] N is a positive real number, and the value of N can be selectively set according to the actual applicable scenario, for example, 100.

[0109] Step 64: Use the star cluster to which the central control center corresponding to the second distance belongs as the target handover star cluster of the slave star.

[0110] In the embodiment of the present invention, the master star of the star cluster takes the star cluster to which the central control center corresponding to the minimum value of the second distance belongs as the target handover star cluster of the slave star, and accordingly, the slave star also becomes a slave star to be handed over.

[0111] Step 65: Generate the slave satellite handover request according to the constellation identifier of the target handover constellation.

[0112] In the embodiment of the present invention, the master star of the star cluster generates the slave star handover request according to the star cluster identifier of the target handover star cluster and the slave star identifier of the slave star to be handed over.

[0113] Step 66: Determine whether the slave star belongs to the current star constellation.

[0114] Furthermore, when the central control center closest to the slave star is the current central control center corresponding to the current star cluster to which the slave star belongs, the slave star does not need to be handed over and still belongs to the current star cluster.

[0115] In the embodiment of the present invention, alternatively, determining the slave satellite handover request includes:

[0116] Each constellation executes step 61 to step 66 cyclically until the constellation closest to the slave constellation is determined as the target handover constellation, so as to generate a slave satellite handover request.

[0117] In the embodiment of the present invention, the slave satellite handover process of the multi-constellation collaboration of the present invention is as follows: Figure 7(a)-7(c) As shown:

[0118] As shown in FIG7(a), according to the preset frequency, the master star of the current star cluster monitors the second distance from each slave star in the star cluster to the central control center of each star cluster in real time, and when it is determined that the difference between the third distance from the slave star to the central control center of the current star cluster and the second distance is greater than the preset distance threshold, a slave star handover request is generated and sent to the master star of the target handover star cluster and the slave star to be handed over; as shown in FIG7(b), when the handover time is reached, the master star of the current star cluster hands over the slave star to be handed over to the master star of the target handover star cluster; as shown in FIG7(c), after the handover is completed, the slave star to be handed over becomes the handed over slave star of the target handover star cluster, and is managed by the master star of the target handover star cluster, assigning satellite tasks to it, receiving status information fed back by the handed over slave star, etc.

[0119] 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.

Claims

1. A multi-constellation coordinated slave satellite handover method, characterized in that: The multi-constellation coordinated slave satellite handover method is executed by the master satellites of each constellation, the master satellite of the target handover constellation and the slave satellite to be handed over; The method for dividing the target handover star cluster is as follows: for each slave star of any star cluster, calculating the first distance from the slave star to the central control center of each star cluster; comparing multiple first distances to determine the minimum value of the first distance; Determine that the star cluster to which the central control center corresponds to the minimum value of the first distance belongs is the target handover star cluster of the slave star; The method for dividing the target handover star cluster is executed by a ground station, each satellite of the target star cluster and the slave star, and the execution method includes: the ground station generates a star cluster division instruction according to the star cluster identifier of the target star cluster and sends it to the target star cluster and the slave star; wherein the star cluster division instruction indicates a division activation time; the ground station receives division response results returned by each satellite of the target star cluster and the slave star; when each satellite of the target star cluster and the slave star all return division response results, at the division activation time, the master star of the target star cluster adds the slave star identifier of the slave star to the target star cluster; The slave star handover method comprises: the master star of the current star cluster initiates a slave star handover request to the master star of the target handover star cluster and the slave star to be handed over; wherein the slave star handover request indicates the handover time, the master star identifier of the target handover star cluster and the slave star identifier of the slave star to be handed over; the master star of the target handover star cluster and the slave star to be handed over receive the slave star handover request and return a handover response result; the master star of the current star cluster receives the handover response result returned by the master star of the target handover star cluster and the slave star to be handed over; the master star of the current star cluster In the case of receiving the handover response result of the master star of the target handover star cluster and the slave star to be handed over, at the handover time, in response to the slave star handover request, the master star of the current star cluster removes the slave star to be handed over, the master star of the target handover star cluster adds the slave star identifier of the slave star to be handed over to the star cluster information of the target handover star cluster, the slave star to be handed over changes the identifier of its star cluster to the star cluster identifier of the target handover star cluster, and changes the corresponding master star identifier to the master star identifier of the master star of the target handover star cluster; Also includes: A1: Calculate, for each slave star in the star cluster, a second distance from the slave star to the central control center of the next star cluster according to a preset frequency; A2: Compare the second distance with the third distance from the star to the central control center of the current star cluster to obtain a difference between the third distance and the second distance, and determine whether the difference between the third distance and the second distance is greater than a preset distance threshold; A3: If yes, the star cluster to which the central control center corresponding to the second distance belongs is used as the target handover star cluster of the slave star, and the slave star handover request is generated according to the star cluster identifier of the target handover star cluster.

2. The slave satellite handover method according to claim 1, characterized in that: In the case where a handover response result is not received from the master star of the target handover star cluster or the slave star to be handed over, the slave star handover request is sent repeatedly.

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