A master satellite handover method for multi-satellite coordination

Abstract

The present invention discloses a star-coordinated master star handover method, which relates to the field of space-based detection technology. The specific implementation of the method includes: the current master star in the star cluster generates a master star handover instruction; wherein the master star handover instruction indicates the handover time, the master star identifier of the current master star and the slave star identifier of the master star to be handed over; according to the master star identifier of the current master star and the slave star identifier of the master star to be handed over, the current master star sends the task arrangement information of the star cluster to the master star to be handed over; the current master star receives the first handover response result of the master star to be handed over; when the first handover response result is that the handover is allowed, at the handover time, the current master star switches to the slave star of the star cluster, and the master star to be handed over switches to the master star of the star cluster. This implementation method can flexibly switch the master star of the star cluster based on the distance of each satellite in the star cluster relative to the central control center, the observation task requirements, etc., so as to efficiently and clearly observe the target, so that the observation effect of the entire star cluster is optimized and adapted to various task scenarios.

Description

Technical Field

[0001] The present invention belongs to the field of space-based detection technology, and in particular relates to a master satellite handover method for multi-satellite coordination. 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 role of the master satellite depends on the pre-agreed settings and does 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, due to the large number of star clusters and the complexity of observation tasks, the satellites have a short orbital period when performing observation tasks around the earth, and the observation points move extremely quickly, which causes the sub-satellite points to change too quickly. The star clusters with fixed main star modes have poor observation effects on the observation targets. On the other hand, any failure of the main star will cause the corresponding star cluster to be directly paralyzed and the observation mission to be suspended, which cannot meet the needs of space-based detection with diverse observation tasks and complex characteristics of the observation targets. Summary of the invention

[0005] In view of this, the present invention provides a method for master satellite handover in multi-satellite collaboration, which can flexibly switch the master satellite of the star cluster based on the distance of each satellite in the star cluster relative to the central control center, observation task requirements, etc., and realize the handover of the master satellite of the star cluster. That is, the role of the master star of the star cluster can be changed dynamically, so as to observe the observation target efficiently and clearly, so that the observation effect of the entire star cluster is optimized and adapted to various mission scenarios.

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

[0007] A method for master star handover in multi-satellite collaboration, the method being applied to a single master star mode star constellation, comprising:

[0008] The current master star in the star cluster generates a master star handover instruction; wherein the master star handover instruction indicates the handover time, the master star identifier of the current master star and the slave star identifier of the master star to be handed over;

[0009] According to the master star identifier of the current master star and the slave star identifier of the master star to be handed over, the current master star sends the task arrangement information of the star group to the master star to be handed over;

[0010] The current master satellite receives a first handover response result from the master satellite to be handed over;

[0011] When the first handover response result is that the handover is allowed, at the handover time, the current master star is switched to the slave star of the star cluster, and the master star to be handed over is switched to the master star of the star cluster.

[0012] Optionally, before the primary satellite in the star cluster generates a handover instruction, the method further includes:

[0013] Each satellite of the star cluster receives a satellite role configuration instruction sent by a ground station; wherein the satellite role configuration instruction includes a star cluster identifier, an initial master satellite identifier, and an initial slave satellite identifier;

[0014] Each of the satellites returns a configuration response result to the ground station;

[0015] Receiving a satellite role initialization instruction sent by the ground station;

[0016] In response to the satellite role initialization instruction, each of the satellites in the constellation is initialized according to the constellation identifier, the initial master satellite identifier and the initial slave satellite identifier to determine the constellation to which it belongs and the satellite role.

[0017] Optionally, the current master star in the star cluster generates a master star handover instruction, including:

[0018] Calculating the distance from each satellite in the constellation to the central control center according to a preset frequency;

[0019] Determine the number of the slave satellite targets whose distance to the central control center is less than the distance from the master satellite to the central control center;

[0020] Determine whether the target quantity is less than the handover quantity threshold, and if not, generate the master satellite handover instruction.

[0021] Optionally, the configuration response result includes: the configuration response data packet includes a configuration response timestamp, a configuration response satellite identifier, and whether the role is executable.

[0022] Optionally, before the current master star sends the task arrangement information of the star group to the master star to be handed over according to the master star identifier of the current master star and the slave star identifier of the master star to be handed over, the method further includes:

[0023] The master star of the star cluster broadcasts the master star handover instruction to each of the slave stars of the star cluster;

[0024] The master star of the star cluster receives the second handover response result returned by each of the slave stars of the star cluster;

[0025] Determine whether the second handover response results returned by all the slave satellites are received; if not, repeatedly broadcast the master satellite handover instruction to the slave satellites that have not returned the second handover response results.

[0026] Optionally, the first handover response result includes: a first handover response timestamp, the slave star identifier of the master star to be handed over, and whether the handover is allowed; the second handover response result includes a second handover response timestamp, the master star identifier of the current master star, the slave star identifier of the master star to be handed over, and a received notification.

[0027] A method for determining a satellite role configuration instruction applied to a master satellite handover method, wherein the method for determining a satellite role configuration instruction is applied to a ground station, comprising:

[0028] Calculating the initial distance from each of the satellites in the constellation to the ground station;

[0029] Determine an initial master star identifier and an initial slave star identifier of the star cluster, and generate a star cluster configuration information data packet;

[0030] A satellite role configuration instruction including the constellation configuration information data packet is sent to each satellite of the constellation.

[0031] Optionally, the determining an initial primary star identifier of the star constellation includes:

[0032] The satellite in the star cluster with the shortest initial distance from the ground station is classified as the primary star of the star cluster, and the initial primary star identifier of the star cluster is determined.

[0033] Beneficial effects:

[0034] (1) The master satellite handover method for multi-satellite coordination of the present invention can meet the requirements of coordinated planning of ground, air or mixed observation tasks of a multi-satellite and multi-type payload constellation, and is applicable to the master-slave role switching of a remote sensing satellite constellation in master-slave mode.

[0035] (2) The master satellite handover method for multi-satellite coordination of the present invention is 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.

[0036] (3) The multi-satellite coordinated master satellite handover method of the present invention can solve the problem of task allocation and scheduling caused by the inability to switch between master and slave satellites in existing remote sensing satellite clusters during space-based detection. For a single-master satellite mode star cluster, dynamic switching of the master and slave roles can be achieved. That is, the role of the master satellite, the management center of the star cluster, can be switched over time to adapt to changing task scenarios, ensure the normal execution of observation tasks, and meet the needs of space-based detection with diverse observation tasks and complex characteristics of observation targets.

[0037] (4) Through the method for determining the satellite role configuration instructions of the present invention, the ground station determines the main satellite of the star cluster according to the distance between each satellite in the star cluster and the ground station, and injects the satellite role configuration instructions into the star cluster satellite role configuration instructions, so that the satellite role of each satellite in the star cluster can be specified at the beginning to realize the initialization setting of the star cluster.

[0038] (5) The satellite roles of the master and slave stars of the star cluster are initialized by the method for initializing the satellite roles of the single master star mode star cluster of the present invention to perform subsequent observation tasks.

[0039] (6) Through the method for generating the master satellite handover instruction, for the star clusters that meet the master satellite switching rules (the spatial distance between more than 1 / 3 of the satellites in the star cluster and the central control center is less than the distance between the current master satellite and the central control center), the master satellite switching process is started to perform the master-slave satellite handover, and the satellite closest to the central control center is selected from the star cluster as the new master satellite, and the task scheduling information maintained by the original master satellite is accurately handed over to the new master satellite to ensure that the operation of the star cluster is not affected during the handover process. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 Schematic diagram of the main process of the master satellite handover method for multi-satellite collaboration according to an embodiment of the present invention.

[0041] Figure 2 Schematic diagram of a single-primary-star mode star cluster according to an embodiment of the present invention.

[0042] Figure 3 Schematic diagram of the main process of the method for initializing the satellite roles of a single-primary-star mode constellation according to an embodiment of the present invention.

[0043] Figure 4 It is a schematic diagram of the main process of the method for determining the satellite role configuration instruction according to an embodiment of the present invention.

[0044] Figure 5 Schematic diagram of the main process of a method for generating a master satellite handover instruction according to an embodiment of the present invention.

[0045] FIG6( a ) is a schematic diagram of a multi-satellite collaboration before the primary satellite is handed over according to an embodiment of the present invention.

[0046] FIG6( b ) is a schematic diagram of a primary satellite handover in multi-satellite coordination according to an embodiment of the present invention.

[0047] FIG6( c ) is a schematic diagram of a multi-satellite collaboration after the master satellite is handed over according to an embodiment of the present invention. DETAILED DESCRIPTION

[0048] Constellation: It is composed of multiple satellites that can communicate with each other to coordinate various observation tasks.

[0049] 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.

[0050] Single-primary-star mode star cluster: refers to a star cluster in which there is only one primary star at any time.

[0051] 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.

[0052] Central control center: refers to the control center of each constellation, which is determined by the guiding party of the constellation. The control centers of different constellations can be the same or different. For example, for a low-orbit satellite constellation that receives guidance information (including observation tasks, satellite role configuration instructions, etc.) sent by a high-orbit satellite, the central control center of the low-orbit satellite constellation is a high-orbit satellite; for a constellation that receives guidance information sent by a ground station, the central control center of the constellation is a ground station.

[0053] The present invention is described in detail below with reference to the accompanying drawings and embodiments.

[0054] The present invention provides a method for handing over a primary satellite in a multi-satellite coordinated manner, such as Figure 1 As shown, the multi-satellite coordinated master satellite handover method of the present invention comprises the following steps:

[0055] In the embodiment of the present invention, the master satellite handover refers to the transfer of the master satellite role of a constellation from one satellite of the constellation to another satellite of the constellation.

[0056] Step 11, the current master star in the star cluster generates a master star handover instruction; wherein the master star handover instruction indicates the handover time, the master star identifier of the current master star and the slave star identifier of the master star to be handed over.

[0057] In the embodiment of the present invention, the master satellite handover method of multi-satellite coordination is performed by a single master satellite mode constellation, such as Figure 2 As shown, the single master star mode star group of the present invention includes: a master star and multiple slave stars, wherein:

[0058] In the single-master star mode, there is only one master star in the star cluster at any time. The satellite roles of the master star and the slave star can be switched. The master star and the slave star receive satellite role configuration instructions sent by the ground station to initialize or modify their own satellite roles; the master star receives observation tasks sent by the central control center (for example, earth observation tasks such as plant yield, mineral exploration, hydrological survey, land area survey, or air observation tasks such as meteorological observation), plans the observation tasks, and allocates the observation tasks to satellite tasks of multiple slave stars. The slave star receives the satellite tasks assigned by the master star of the star cluster, schedules the execution of the on-board payload, and feeds back its own satellite status information, response results, satellite task execution information, etc. to the master star, so that the master star of the star cluster can monitor each slave star and implement centralized management.

[0059] In the embodiment of the present invention, the central control center may be a ground station or a high-orbit satellite.

[0060] In an embodiment of the present invention, the master satellite handover instruction includes a master satellite handover data packet, and the master satellite handover data packet includes the handover time, the constellation identifier, the master satellite identifier of the current master satellite, and the slave satellite identifier of the master satellite to be handed over.

[0061] In the embodiment of the present invention, the master star identifier is the master star ID, and the slave star identifier is the slave star ID.

[0062] In the embodiment of the present invention, before the primary satellite in the star cluster generates a handover instruction, Figure 3 As shown, the method for initializing the satellite roles of the single-primary-star mode constellation of the present invention comprises the following steps:

[0063] Step 31, each satellite of the constellation receives a satellite role configuration instruction sent by a ground station; wherein the satellite role configuration instruction includes a constellation identifier, an initial master satellite identifier, and an initial slave satellite identifier.

[0064] In an embodiment of the present invention, after the ground station completes the initial role configuration of the master satellite and multiple slave satellites in each star cluster, it sends a satellite role configuration instruction to each satellite. That is, in the process of initializing the satellite role of the star cluster, the ground station specifies the star cluster, the master satellite of the star cluster, and the multiple slave satellites of the star cluster, and sends the satellite role configuration instruction including the star cluster configuration information data packet to each satellite; wherein the star cluster configuration information data packet includes the initialization activation time, the star cluster identifier, the initial master satellite identifier, and the initial slave satellite identifier.

[0065] In the embodiment of the present invention, since each constellation includes multiple slave stars, the slave star identifiers of each constellation can be arranged in ascending order, for example, slave star 1 ID, slave star 2 ID, slave star n ID, ...

[0066] 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.

[0067] In the embodiment of the present invention, Figure 4 As shown, the method for determining the satellite role configuration instruction of the present invention comprises the following steps:

[0068] In an embodiment of the present invention, the method for determining the satellite role configuration instruction of the present invention is executed by a ground station, and the initial satellite role settings of the master satellite and the slave satellite of each constellation are specified by the ground station.

[0069] Step 41, calculating the initial distance from each of the satellites in the constellation to the ground station.

[0070] In the embodiment of the present invention, for each star cluster that is randomly distributed in an initial state, the ground station determines the primary star of each star cluster according to the initial distance of each satellite in the star cluster relative to the ground station.

[0071] In the embodiment of the present invention, it is assumed that the star cluster is S m , star cluster S m Including each satellite n The set of s n ∈S m , for any star cluster S i (i∈1,2,……,m), star cluster S i Any satellite in n The initial distance from the ground station is

[0072] Step 42: determine the initial master star identifier and the initial slave star identifier of the constellation, and generate a constellation configuration information data packet.

[0073] In the embodiment of the present invention, the ground station converts the star cluster S into i The satellite with the smallest initial distance to the ground station is classified as the primary satellite of the constellation. j , therefore, the satellites are constellation S i Main Stars j The necessary and sufficient conditions are as follows:

[0074]

[0075] An initial master star and an initial slave star of the star cluster are obtained, and a star cluster configuration information data packet is generated according to the initial master star identifier and the initial slave star identifier.

[0076] Step 43: Send a satellite role configuration instruction including the constellation configuration information data packet to each satellite in the constellation.

[0077] In the embodiment of the present invention, the ground station sends a satellite role configuration instruction to each satellite in the star cluster, so that each satellite in the star cluster is initialized according to the star cluster configuration information data packet and completes its own role configuration.

[0078] Step 32: Each of the satellites returns a configuration response result to the ground station.

[0079] In an embodiment of the present invention, after receiving the satellite role configuration instruction, each satellite in the constellation determines its own satellite status, determines whether it can work under the corresponding satellite role, and returns a configuration response result including a configuration response data packet to the ground station; wherein the configuration response data packet includes a configuration response timestamp, a configuration response satellite identifier, and whether the role is executable (used to characterize whether the satellite can work under the specified satellite role).

[0080] In an embodiment of the present invention, it also includes:

[0081] The ground station determines whether the configuration response result of any of the satellites in the star cluster is not executable. If so, the ground station resets the satellite role of the star cluster; if not, the ground station returns a satellite role initialization instruction to each of the satellites in the star cluster.

[0082] In the embodiment of the present invention, when the ground station confirms that the configuration response results of all satellites in the star cluster are executable, it is determined that the star cluster can be initialized and a satellite role initialization instruction is sent to each satellite in the star cluster.

[0083] Furthermore, when the ground station does not receive the configuration response result of the satellite, it repeatedly sends the satellite role configuration instruction to the satellite that has not sent the configuration response result to prevent initialization failure and ensure the completion of the initialization of the constellation; wherein the repetition period can be once every 2s.

[0084] Step 33, receiving a satellite role initialization instruction sent by the ground station.

[0085] In the embodiment of the present invention, when the configuration response results of all satellites in the star cluster are executable, each satellite in the star cluster receives a satellite role initialization instruction sent by the ground station.

[0086] Step 34, in response to the satellite role initialization instruction, each satellite of the constellation is initialized according to the constellation identifier, the initial master satellite identifier and the initial slave satellite identifier to determine the constellation to which it belongs and the satellite role.

[0087] In an embodiment of the present invention, each satellite of the constellation performs initialization settings at the initialization activation time according to the constellation identifier, the initial master satellite identifier and the initial slave satellite identifier of the constellation configuration information data packet, determines the constellation to which each satellite belongs and its own satellite role, and completes the satellite configuration initialization.

[0088] In the embodiment of the present invention, Figure 5 As shown, the method for generating the master satellite handover instruction of the present invention comprises the following steps:

[0089] In an embodiment of the present invention, the method for generating the master satellite handover instruction of the present invention is executed by the master satellite of the star cluster.

[0090] Step 51, calculating the distance from each satellite in the constellation to the central control center according to a preset frequency.

[0091] In the embodiment of the present invention, the preset frequency may be 1 Hz, and the main satellite of the constellation calculates the distance from each satellite in the constellation to the central control center at a frequency of 1 Hz.

[0092] Step 52, determining the number of the slave satellite targets whose distance to the central control center is less than the distance from the master satellite to the central control center.

[0093] In the embodiment of the present invention, the master satellite determines the number of slave satellites whose distance to the central control center is less than the distance between the master satellite and the central control center according to the distance calculation results of each satellite to the central control center. i (i∈1,2,……,m), assuming that the star cluster S i The current main star is s p (p∈1,2,……,n), star cluster S i Any satellite in n The distance from the ground station is The number of slave targets whose distance to the central control center is less than the distance from the master to the central control center is as follows:

[0094]

[0095] Step 53, determine whether the target quantity is less than the handover quantity threshold, if yes, go to step 54; if not, go to step 55.

[0096] In the embodiment of the present invention, the handover quantity threshold may be 1 / 3 of the total number of satellites in the constellation, and whether the target number is less than the handover quantity threshold is determined as follows:

[0097]

[0098] In the above formula:

[0099] |·| represents the cardinality of a set.

[0100] Step 54, the main star of the star cluster remains unchanged.

[0101] In the embodiment of the present invention, when the number of targets is less than the handover number threshold, the primary star of the star cluster remains unchanged.

[0102] Step 55: Generate a master satellite handover instruction.

[0103] In an embodiment of the present invention, when the target number is not less than the handover number threshold, the master satellite generates a master satellite handover instruction based on the slave satellite identifier of the slave satellite closest to the central control center to switch the master satellite of the star cluster to the satellite in the set S′ closest to the central control center.

[0104] Step 12: According to the master star identifier of the current master star and the slave star identifier of the master star to be handed over, the current master star sends the task arrangement information of the star group to the master star to be handed over.

[0105] In an embodiment of the present invention, after receiving the master star handover instruction, the current master star sends the task arrangement information of its star cluster to the master star to be handed over. The task arrangement information may include the task information of the observation tasks that have been executed by the star cluster, the observation tasks that the star cluster is executing, and the observation tasks that the star cluster has received but not yet executed. After the current master star and the master star to be handed over are switched, the master star to be handed over can continue to perform the functions of the master star according to the task arrangement information as the new master star, so as to ensure that the operation of the star cluster is not affected during and after the handover.

[0106] Furthermore, the task arrangement information includes a task status information data packet and a task scheduling plan data packet. The task status information data packet includes the task execution timestamp, observation target identification, task type, observation target category, observation target status, observation target range, observation target center point position, applied payload type, payload spectrum, task resolution, etc. of each slave satellite, which is used to determine the status information of each slave satellite performing the satellite task; the task scheduling plan data packet includes the task planning timestamp, observation target identification, task type, applied payload type, payload spectrum, observation start time, observation end time, etc., which is used to determine the planning information of each observation task that has been executed, is being executed, and has not yet been executed by the star cluster.

[0107] Step 13: the current master satellite receives a first handover response result from the master satellite to be handed over.

[0108] In the embodiment of the present invention, after the current master star receives the first handover response result including the first handover response data packet of the master star to be handed over, it is determined whether the first handover response result is to allow the handover. If so, go to step 14; wherein the first handover response data packet includes the first handover response timestamp, the slave star identifier of the master star to be handed over, and whether the handover is allowed (used to indicate whether the master star to be handed over can perform the master star role handover).

[0109] Furthermore, when the first handover response result is a rejection of the handover, the current master satellite repeatedly sends task scheduling information to the master satellite to be handed over to ensure that the handover of the star cluster is completed smoothly; wherein the repetition period may be once every 2 seconds.

[0110] Step 14: When the first handover response result is that the handover is allowed, at the handover time, the current master star is switched to a slave star of the star cluster, and the master star to be handed over is switched to a master star of the star cluster.

[0111] In the embodiment of the present invention, when the first handover response result of the master star to be handed over is that the handover is allowed, since the master star to be handed over has not taken over the star cluster at this time, the current master star continues to perform the master star duties as the master star of the star cluster, and the master star to be handed over continues to perform the slave star duties as the slave star of the star cluster. At the same time, the current master star and the master star to be handed over judge the current time to determine whether the current time is equal to the handover time. If so, the current master star switches to the slave star of the star cluster (that is, the slave star duties performed by the master star to be handed over before the switch), and the master star to be handed over switches to the master star of the star cluster; if not, continue to wait until the agreed moment of the handover time arrives.

[0112] Furthermore, after the handover master star is switched to become the master star of the star cluster, the handover master star will perform the duties of the master star as the master star of the star cluster, monitor the observation tasks being performed by the star cluster, plan the observation tasks that have been received but not yet executed, etc.

[0113] In the embodiment of the present invention, before the current master star sends the task arrangement information of the star group to the master star to be handed over according to the master star identifier of the current master star and the slave star identifier of the master star to be handed over, the method further includes:

[0114] The master star of the star cluster broadcasts the master star handover instruction to each of the slave stars of the star cluster;

[0115] The master star of the star cluster receives the second handover response result returned by each of the slave stars of the star cluster;

[0116] Determine whether the second handover response results returned by all the slave satellites are received; if not, repeatedly broadcast the master satellite handover instruction to the slave satellites that have not returned the second handover response results.

[0117] In an embodiment of the present invention, before the master star of the star cluster sends task arrangement information to the master star to be handed over, it first broadcasts the master star handover instruction to each slave star, so that each slave star knows that the star cluster is about to switch the master star, so that each slave star can subsequently accept the management and monitoring of the new master star. At the same time, the star cluster can ensure the uninterrupted execution of satellite missions during the master star handover period, so that the operation of the star cluster is not affected.

[0118] After receiving the broadcast, each slave satellite returns a second handover response result including a second handover response data packet to the master satellite, confirming that it has received the broadcast notification of the master satellite switching; wherein the second handover response data packet includes a second handover response timestamp, the master satellite identifier of the current master satellite, the slave satellite identifier of the master satellite to be handed over, and a receipt notification.

[0119] Furthermore, in the case of not receiving the second handover response result from the slave satellite, the current master satellite repeatedly broadcasts the master satellite handover instruction to the slave satellite that has not returned the second handover response result to ensure the smooth completion of the handover of the star cluster; wherein, the repetition period can be once every 2 seconds.

[0120] In the embodiment of the present invention, the master satellite handover process of the multi-satellite coordination of the present invention is as follows: Figure 6(a)-6(c) As shown:

[0121] As shown in Figure 6(a), the master satellite of the star cluster monitors the distance from each satellite in the star cluster to the central control center in real time. When it is determined that the number of slave satellites whose distance to the central control center is less than the distance from the master satellite to the central control center is not less than the handover number threshold, a master satellite handover instruction is generated; as shown in Figure 6(b), the current master satellite of the star cluster sends the task scheduling information to the master satellite to be handed over. When the handover time arrives, the current master satellite and the master satellite to be handed over are switched; as shown in Figure 6(c), after the handover is completed, the master satellite to be handed over becomes the master satellite of the star cluster, manages the star cluster, receives the injection of observation tasks and the status information fed back by the slave satellites, etc.

[0122] 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 method for handing over a master satellite in multi-satellite coordination, characterized in that: The method is applied to a single-primary-star mode star cluster, comprising: The current master star in the star cluster generates a master star handover instruction; wherein the master star handover instruction indicates the handover time, the master star identifier of the current master star and the slave star identifier of the master star to be handed over; According to the master star identifier of the current master star and the slave star identifier of the master star to be handed over, the current master star sends the task arrangement information of the star group to the master star to be handed over; The current master satellite receives a first handover response result from the master satellite to be handed over; When the first handover response result is that the handover is allowed, at the handover time, the current master star is switched to the slave star of the star cluster, and the master star to be handed over is switched to the master star of the star cluster; Before the primary star in the star cluster generates a handover instruction, the method further includes: Each satellite of the star cluster receives a satellite role configuration instruction sent by a ground station; wherein the satellite role configuration instruction includes a star cluster identifier, an initial master satellite identifier, and an initial slave satellite identifier; Each of the satellites returns a configuration response result to the ground station; Receiving a satellite role initialization instruction sent by the ground station; In response to the satellite role initialization instruction, each satellite of the star constellation is initialized and set according to the star constellation identifier, the initial master star identifier and the initial slave star identifier, and the star constellation to which it belongs and the satellite role are determined; The master star in the star cluster generates a master star handover instruction, including: Calculate the distance from each satellite in the constellation to the central control center according to a preset frequency; Determine the number of targets of the slave satellites whose distance to the central control center is less than the distance from the master satellite to the central control center; Determine whether the target quantity is less than the handover quantity threshold, and if not, generate the master satellite handover instruction.

2. The method according to claim 1, characterized in that The configuration response result includes: the configuration response data packet includes a configuration response timestamp, a configuration response satellite identifier, and whether the role is executable.

3. The method according to claim 1, characterized in that Before the current master star sends the task arrangement information of the star group to the master star to be handed over according to the master star identifier of the current master star and the slave star identifier of the master star to be handed over, the method further includes: The master star of the star cluster broadcasts the master star handover instruction to each of the slave stars of the star cluster; The master star of the star cluster receives the second handover response result returned by each of the slave stars of the star cluster; Determine whether the second handover response results returned by all the slave satellites are received; if not, repeatedly broadcast the master satellite handover instruction to the slave satellites that have not returned the second handover response results.

4. The method according to claim 3, characterized in that The first handover response result includes: the first handover response timestamp, the slave star identifier of the master star to be handed over, and whether the handover is allowed; the second handover response result includes the second handover response timestamp, the master star identifier of the current master star, the slave star identifier of the master star to be handed over, and a received notification.

5. The method according to claim 1, characterized in that The method for determining the satellite role configuration instruction of the ground station includes: Calculating the initial distance from each of the satellites in the constellation to the ground station; Determine an initial master star identifier and an initial slave star identifier of the star cluster, and generate a star cluster configuration information data packet; A satellite role configuration instruction including the constellation configuration information data packet is sent to each satellite of the constellation.

6. The method according to claim 5, characterized in that The step of determining an initial primary star identifier of the star cluster comprises: The satellite in the star cluster with the shortest initial distance from the ground station is classified as the primary star of the star cluster, and the initial primary star identifier of the star cluster is determined.

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