A multi-star cooperative task planning method and system based on handover probability

Abstract

This invention proposes a multi-satellite collaborative mission planning method based on handover probability, comprising: Step 1, the mission transfer satellite acquires the state information and error model of the target to be observed; Step 2, the mission planning satellite maintains the state information of all satellites in the constellation, and simultaneously acquires the target information and error model sent by the mission transfer satellite; Step 3, the mission planning satellite selects a mission receiving satellite based on the state information of each satellite in the constellation and the target to be observed, and sends the mission execution command to the mission receiving satellite; Step 4, the mission receiving satellite detects the target to be observed according to the command, completes the target reception task, and feeds back to the mission planning satellite.

Description

Technical Field

[0001] This invention relates to the field of remote sensing satellites, and in particular to a multi-satellite collaborative mission planning method and system for the handover observation of moving targets on the ground and in the air by remote sensing satellites. Background Technology

[0002] Spacecraft that utilize the locational and field-of-view advantages of space-based observation to detect Earth, air, or space targets and obtain detailed data on these targets and their components. Compared to traditional static observation satellites, the handover of sensor scheduling involves dynamic changes. Both the satellite carrying the sensor payload platform and the target are in relatively high-speed motion, requiring multiple sensors to continuously observe and hand over data to complete the mission. This makes the scheduling problem more complex, necessitating consideration of the real-time performance of the scheduling algorithm and the success rate of sensor handover.

[0003] Sensor resource scheduling is a key technology for achieving relay target tracking. Each sensor scheduling in a satellite system is a process from target reacquisition confirmation to stable tracking. Target reacquisition refers to the process where, after the scheduled sensor points to the target's airspace, it intercepts the target in space and confirms the target after a certain period of energy accumulation, avoiding "mistracking" or loss of tracking. Therefore, target reacquisition is the core link of collaborative sensor resource scheduling and is the prerequisite and foundation for subsequent stable tracking. Once the field of view of the tracking sensor is determined, there is a certain probability that the target will appear in the field of view, i.e., the spatial handover probability, which reflects the comprehensive handover performance of the sensor to the target during the target tracking handover process. When the target is moving in space, its position is generally estimated using a joint Gaussian error ellipsoid model, i.e., calculating the probability that the error ellipsoid exists in the field of view of the tracking sensor. The smaller the error, the farther the distance, and the larger the sensor's field of view, the greater the handover probability. Existing handover probability and interception window analysis methods usually optimize tracking accuracy, and the calculation methods are complex. In engineering, collaborative mission planning allocates tasks based on satellite visibility, without considering the impact of handover probability, and is not suitable for mission allocation in complex constellations. Summary of the Invention

[0004] In view of this, the present invention provides a multi-satellite collaborative mission planning method based on handover probability, which can quickly calculate the handover probability, realize real-time dynamic allocation of multiple tasks, and solve the timeliness requirements of on-board autonomous planning. The method includes: Step 1, the mission transfer satellite obtains the state information and error model of the target to be observed. The state information of the target to be observed includes spatial position information and velocity information, and the error model includes position error, velocity error and acceleration error.

[0005] Step 2: The mission planning satellite maintains the status information of all satellites in the constellation, and at the same time acquires the target information and error model to be observed sent by the mission delivery satellite;

[0006] Step 3: The mission planning star selects a mission receiving star based on the status information of each satellite in the constellation and the target to be observed, and sends the mission execution command to the mission receiving star.

[0007] Step 4: The receiving satellite detects the target to be observed according to the command, completes the target reception task, and feeds back to the planning satellite; if the reception task fails, it feeds back to the planning satellite, which re-plans as needed; or if the task handover fails, the handover task ends.

[0008] Step 5: After the mission planning satellite receives the information that the mission receiving satellite has successfully located the target, it can confirm that the handover is complete. If the mission transfer satellite is still executing a mission at this time, it can send a stop mission command, and the mission transfer satellite will stop the current mission according to the command.

[0009] Specifically, the mission planning satellite acquires the measured points and error models of the target to be observed through the constellation resource management module, and obtains the status information of each satellite in the constellation; the mission planning satellite calculates the extrapolated trajectories of the target to be observed and each satellite through the handover probability assessment module; calculates the target visible stars of each satellite in the constellation; calculates the error ellipsoid radius of the corresponding target to be observed based on the interception time; calculates the interception distance and the radius of the landing area; calculates the handover probability based on the ratio of the radius of the landing area to the radius of the error ellipsoid; and assigns the task to the satellite combination with the highest handover probability and the best joint observation effect through the task allocation module.

[0010] Specifically, the calculation of the corresponding target error ellipsoid radius based on the interception time includes:

[0011] Let the initial position, velocity, and acceleration errors of the target be P, respectively. tar_0 V tar_0 a tar_0 If the position estimation error follows a three-dimensional joint Gaussian distribution with a mean of 0, then the extrapolated position estimation error also follows a three-dimensional joint Gaussian distribution with a mean of 0; the radius of the error ellipsoid at intercept time t is R. error Then R eror Follows a three-dimensional Gaussian distribution:

[0012]

[0013] Specifically, the calculation of the interception distance and the radius of the landing area includes:

[0014] Interception range refers to the straight-line distance between the satellite and the target when the target enters the payload's field of view, defined as D. st Let θ be the load field of view angle, and let D be the length of half of the intercepted falling region. drop ,but:

[0015]

[0016] Specifically, the calculation of the handover probability based on the ratio of the radius of the landing area to the radius of the error ellipsoid includes:

[0017] Since the distance between the landing side length and the star's eye distance is a small value, the simplified calculation of the landing probability is as follows:

[0018]

[0019] e I Let P be the position estimation error vector, which follows a zero-mean three-dimensional joint Gaussian distribution. I Let e ​​be the three-dimensional variance matrix of the position estimation error. I :N(0,P I Assuming the estimation error is completely uncorrelated in three dimensions, P I It is a diagonal matrix with elements R. error (t) 2 ;but:

[0020]

[0021] Where w is the radius of the error ellipsoid in a certain direction in any orthogonal three-dimensional coordinate system with the center of the error ellipsoid as the origin.

[0022] Specifically, the mission planning satellite mentioned in step 3 also integrates the received single-satellite target observation information through the target situation management module to obtain comprehensive target situation information, assess the target positioning status, and evaluate the priority of mission execution.

[0023] Specifically, the task allocation module in the task planning star described in step 3 also evaluates the task execution efficiency based on the star cluster resource status, target situation information, and visible star handover probability, performs tracking resource optimization allocation and task conflict resolution, and completes the target handover task planning and execution allocation.

[0024] This invention also proposes a multi-satellite collaborative mission planning system based on handover probability. The system includes a mission transfer star, a mission planning star, and a mission receiving star. The mission transfer star acquires the state information and error model of the target to be observed. The state information of the target to be observed includes spatial position information and velocity information. The error model includes position error, velocity error, and acceleration error.

[0025] The mission planning satellite maintains the status information of all satellites within the constellation, and simultaneously acquires the target information and error model to be observed sent by the mission delivery satellite;

[0026] The mission planning star selects a mission receiving star based on the status information of each satellite in the constellation and the target to be observed, and sends the mission execution command to the mission receiving star.

[0027] The mission receiving satellite detects the target to be observed according to the command, completes the target reception task, and feeds back to the mission planning satellite; if the reception task fails, it feeds back to the mission planning satellite, which then re-plans as needed; or if the mission handover fails, the handover task ends.

[0028] Once the mission planning satellite receives the successful positioning information from the mission receiving satellite, it can confirm that the handover is complete. If the mission relay satellite is still executing a mission at this time, it can send a stop mission command, and the mission relay satellite will stop its current mission according to the command.

[0029] Beneficial effects:

[0030] (1) The system and method provided by the present invention can quickly calculate the handover probability, realize the real-time dynamic allocation of multiple tasks, solve the timeliness requirements of on-board autonomous planning, and have good engineering practicality.

[0031] (2) The method provided by the present invention uses the target situation management module to process the received single-satellite target observation information by the mission planning satellite to obtain comprehensive target situation information, assess the target positioning status, assess the priority of mission execution, and selectively execute the mission.

[0032] (3) The method provided by the present invention uses the task allocation module in the task planning star to evaluate the task execution efficiency based on the star cluster resource status, target situation information and visible star handover probability, and performs tracking resource optimization allocation and task conflict resolution to complete the target handover task planning and execution allocation, which can efficiently resolve task conflicts.

[0033] (4) In the method provided by the present invention, the mission planning star calculates the handover probability based on the ratio of the radius of the landing area to the radius of the error ellipsoid, and finally assigns the mission to the satellite combination with the highest handover probability and the best joint observation effect, which is effectively applicable to the mission allocation of complex constellations. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the target handover and capture scenario in this invention;

[0035] Figure 2 This is a schematic diagram illustrating the system framework and role definitions in this invention;

[0036] Figure 3 This is a flowchart of the multi-satellite collaboration for target handover in this invention;

[0037] Figure 4This is a technical framework diagram of the mission planning and allocation device in the mission planning satellite of the present invention;

[0038] Figure 5 This is a schematic diagram of the multi-satellite collaborative target handover task planning process in this invention;

[0039] Figure 6 The handover probability P is obtained from simulation analysis in this invention. drop With D drop / R error A diagram illustrating the relationship between the two. Detailed Implementation

[0040] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0041] This invention provides a multi-satellite collaborative mission planning method based on handover probability. The target handover collaborative planning scenario of this invention is applicable to stationary or moving targets on the ground or in space. For ground targets, one satellite can obtain the target's measured information, and the target handover scenario involves at least two satellites working collaboratively. For space targets, at least two satellites are required to obtain the target's three-dimensional information, and the target handover scenario involves at least three satellites working collaboratively (when one of the satellites works continuously before and after the handover, it is considered three satellites).

[0042] A schematic diagram of a collaborative planning scenario for the handover of moving targets in space is shown below. Figure 1 As shown, Satellite 1 and Satellite 2 acquire the target's measured points. Satellites 3 and 4, based on the measured information from Satellites 1 and 2, allocate resources to detect the target. Due to errors in the measured information, the target error ellipsoid gradually increases over time. The probability that Satellites 3 and 4 detect the target, i.e., the spatial handover probability, is related to factors such as the size of the target error ellipsoid, the target error probability distribution function, and the satellite's detection range.

[0043] The roles and functions in this method and system are defined as follows:

[0044] (1) Mission Transfer Satellite: Transfers the current mission to the subsequent receiving satellite. Before the handover, the target has been located; it is responsible for sending the target information and its own satellite information to the mission planning satellite; and at the same time, it executes the mission stop command related to the mission planning satellite.

[0045] (2) Mission Planning Satellite: The main planning entity responsible for mission handover planning and execution judgment. It receives and maintains target information and information of all satellites in the network; plans and allocates handover tasks; monitors the handover execution status, decides to replan, and judges whether the execution is successful or not.

[0046] (3) Mission Receiving Satellite: The satellite that receives mission data. It sends satellite status to the mission planning satellite; it receives and executes mission commands from the mission planning satellite and provides feedback on the execution status.

[0047] System framework and role definition diagram as follows Figure 2 As shown. A constellation performing a ground target handover mission includes one mission planning star, at least one mission transfer star, and at least one mission receiving star; the mission planning star can simultaneously be a mission transfer star or a mission receiving star, or it can be a ground system. A constellation performing a space target handover mission includes one mission planning star, at least two mission transfer stars, and at least two mission receiving stars; the mission planning star can simultaneously be a mission transfer star and / or a mission receiving star, or it can be a ground system; mission transfer stars can also simultaneously be mission receiving stars, but they cannot all be duplicated, otherwise they cannot constitute a handover link.

[0048] This method specifically includes the following steps:

[0049] Step 1: The mission satellite acquires the state information and error model of the target to be observed. The state information of the target to be observed includes spatial position information and velocity information, and the error model includes position error, velocity error, and acceleration error.

[0050] Step 2: The mission planning satellite maintains the status information of all satellites in the constellation, and at the same time acquires the target information and error model to be observed sent by the mission delivery satellite;

[0051] Step 3: The mission planning star selects a mission receiving star based on the status information of each satellite in the constellation and the target to be observed, and sends the mission execution command to the mission receiving star.

[0052] The mission planning satellite acquires the measured points and error models of the target to be observed through the constellation resource management module, and obtains the status information of each satellite in the constellation; the mission planning satellite calculates the extrapolated trajectories of the target to be observed and each satellite through the handover probability assessment module; calculates the target visible stars of each satellite in the constellation; calculates the error ellipsoid radius of the corresponding target to be observed based on the interception time; calculates the interception distance and the radius of the landing area; calculates the handover probability based on the ratio of the radius of the landing area to the radius of the error ellipsoid; and assigns the task to the satellite combination with the highest handover probability and the best joint observation effect through the task allocation module.

[0053] Specifically, this includes: the task planning star selects a task receiving star based on the status information of each star and the target, and sends the task execution command to the receiving star. If reception fails, the task is replanned, or if the task handover fails, the handover task ends. The multi-star collaborative flowchart for target handover is shown below. Figure 3 As shown in the diagram, the multi-satellite collaborative target handover mission planning flowchart is as follows: Figure 5 As shown, the specific steps for task planning and allocation are as follows:

[0054] (1) Information acquisition. Acquire the target measured points and error model, and acquire constellation status information.

[0055] (2) Trajectory extrapolation: Calculate the extrapolated trajectory of the target and satellite.

[0056] (3) Visible satellite acquisition: Calculate the visible satellites of the target within the constellation (considering satellite capabilities).

[0057] (4) Target error ellipsoid extrapolation: Calculate the radius of the target error ellipsoid based on the interception time.

[0058] Let the initial position, velocity, and acceleration errors of the target be P, respectively. tar_0 V tar_0 a tar_0 If the position estimation error follows a three-dimensional joint Gaussian distribution with a mean of 0 (assuming the three-dimensional directions are completely uncorrelated), then the extrapolated position estimation error also follows a three-dimensional joint Gaussian distribution with a mean of 0. The radius of the error ellipsoid at intercept time t is R. error Then R error Follows a three-dimensional Gaussian distribution:

[0059]

[0060] (5) Obtaining the interception radius: Calculate the interception distance and the radius of the landing area.

[0061] Interception range refers to the straight-line distance between the satellite and the target when the target enters the payload's field of view, defined as D. st Let θ be the load field of view angle (square field of view), and let D be the half-side length of the intercepted (falling into) region. drop ,but:

[0062]

[0063] (6) Handover probability assessment: The handover probability is calculated based on the ratio of the radius of the landing area to the radius of the error ellipsoid.

[0064] Since the distance between the landing side length and the star's eye distance is a small value, the simplified calculation of the landing probability is as follows:

[0065]

[0066] e I Let P be the position estimation error vector, which follows a zero-mean three-dimensional joint Gaussian distribution. I Let e ​​be the three-dimensional variance matrix of the position estimation error. I :N(0,P I Assuming the estimation error is completely uncorrelated in three dimensions, P I It is a diagonal matrix with elements R. error (t) 2 .but:

[0067]

[0068] Where w is the radius of the error ellipsoid in a certain direction in any orthogonal three-dimensional coordinate system with the center of the error ellipsoid as the origin.

[0069] Through simulation analysis, the handover probability P can be obtained. drop With D drop / R error The relationship is illustrated as follows: Figure 6 As shown in Table 1. Where P drop Let D be the handover probability. drop Let be the half-length of the intercepted area, and be the radius of the target error ellipsoid.

[0070] Table 1. Schematic diagram of handover probability and radius ratio.

[0071]

[0072]

[0073] (7) Task allocation: Tasks are allocated to the satellite combination with the highest handover probability and the best joint observation effect.

[0074] In step 3, the mission planning satellite also integrates the received single-satellite target observation information through the target situation management module to obtain comprehensive target situation information, assess the target positioning status, and evaluate the priority of mission execution.

[0075] In step 3, the task planning satellite, through the task allocation module, also assesses the task execution efficiency based on the satellite constellation resource status, target situation information, and visible satellite handover probability, performs tracking resource optimization allocation and task conflict resolution, and completes the target handover task planning and execution allocation.

[0076] Step 4: The receiving satellite detects the target to be observed according to the command, completes the target reception task, and feeds back to the planning satellite; if the reception task fails, it feeds back to the planning satellite, which re-plans as needed; or if the task handover fails, the handover task ends.

[0077] Step 5: After the mission planning satellite receives the information that the mission receiving satellite has successfully located the target, it can confirm that the handover is complete. If the mission transfer satellite is still executing a mission at this time, it can send a stop mission command, and the mission transfer satellite will stop the current mission according to the command.

[0078] This invention also proposes a multi-satellite collaborative mission planning system based on handover probability, which includes a mission transfer star, a mission planning star, and a mission receiving star.

[0079] The technical framework of the mission planning and allocation device in the mission planning satellite of this invention is as follows: Figure 4 As shown, the mission planning satellite has a collaborative mission planning and allocation device based on handover probability, including a constellation resource management module, a target situation management module, a handover probability assessment module, and a mission allocation module.

[0080] The constellation resource management module connects to the satellite's external interface and receives satellite status information from all satellites within the constellation. It also connects to the handover probability assessment module and the task allocation module, sending the overall satellite status of the constellation as input to these modules. Based on the received individual satellite operational status and task execution status, this module comprehensively assesses the available resources of the constellation.

[0081] The target situation management module connects to the satellite's external interface and receives target observation information from the mission transfer satellite and mission execution satellite managed (planned) by this satellite. It also connects to the handover probability assessment module and the mission allocation module, sending target situation information as input to these modules. This module fuses the received single-satellite target observation information to obtain comprehensive target situation information, assesses target positioning, and evaluates mission execution priority.

[0082] The handover probability assessment module is connected to the constellation resource management module, target situation management module, and task allocation module. It receives constellation resource status and target situation information from the constellation resource management and target situation management modules as input, and sends the assessed handover probability of each visible satellite as output to the task allocation module. Based on the constellation resource status and target situation information, this module performs satellite orbit prediction and target trajectory prediction, calculates the visibility of the prediction information and the interception window of visible satellites for the target, and completes the handover probability assessment.

[0083] The task allocation module connects to the satellite's external interface, sending assigned tasks from the local satellite to the task execution satellite and task transfer satellite. It also connects to the constellation resource management module, target situation management module, and handover probability assessment module, receiving constellation resource status, target situation information, and visible star handover probabilities as input from these modules. Based on the constellation resource status, target situation information, and visible star handover probabilities, this module assesses task execution efficiency, optimizes resource allocation, and resolves task conflicts, ultimately completing the target handover task planning and execution allocation.

[0084] The mission satellite acquires the state information and error model of the target to be observed. The state information of the target to be observed includes spatial position information and velocity information, and the error model includes position error, velocity error and acceleration error.

[0085] The mission planning satellite maintains the status information of all satellites within the constellation, and simultaneously acquires the target information and error model to be observed sent by the mission delivery satellite;

[0086] The mission planning star selects a mission receiving star based on the status information of each satellite in the constellation and the target to be observed, and sends the mission execution command to the mission receiving star.

[0087] The mission receiving satellite detects the target to be observed according to the command, completes the target reception task, and feeds back to the mission planning satellite; if the reception task fails, it feeds back to the mission planning satellite, which then re-plans as needed; or if the mission handover fails, the handover task ends.

[0088] Once the mission planning satellite receives the successful positioning information from the mission receiving satellite, it can confirm that the handover is complete. If the mission relay satellite is still executing a mission at this time, it can send a stop mission command, and the mission relay satellite will stop its current mission according to the command.

[0089] Other parts of the system in this embodiment refer to the collaborative task planning method in the method embodiment, and will not be described again.

[0090] 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.

[0091] It will be apparent to those skilled in the art that the embodiments of the present invention are not limited to the details of the exemplary embodiments described above, and that the embodiments of the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the embodiments of the present invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the embodiments of the present invention is defined by the appended claims rather than the foregoing description. Therefore, all variations falling within the meaning and scope of equivalents of the claims are intended to be encompassed within the embodiments of the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims. Furthermore, it is clear that the word "comprising" does not exclude other units or steps, and the singular does not exclude the plural. Multiple units, modules, or devices recited in the system, apparatus, or terminal claims may also be implemented by the same unit, module, or device through software or hardware. The terms "first," "second," etc., are used to indicate names and do not indicate any particular order.

[0092] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the embodiments of the present invention and are not intended to limit them. Although the embodiments of the present invention have been described in detail with reference to the above preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions to the technical solutions of the embodiments of the present invention should not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A multi-satellite cooperative task planning method based on handover probability, characterized in that, The method comprises the following steps: Step 1, a task transfer satellite obtains state information and an error model of a target to be observed, the state information of the target to be observed comprising spatial position information and velocity information, and the error model comprising position error, velocity error and acceleration error; Step 2, a task planning satellite maintains state information of all satellites in a constellation, and obtains the target information and the error model sent by the task transfer satellite; Step 3, the task planning satellite selects a task receiving satellite according to the state information of each satellite in the constellation and the target to be observed, and sends a task execution command to the task receiving satellite; Step 4, the task receiving satellite detects the target to be observed according to the command, completes the receiving task of the target, and feeds back to the task planning satellite; If the receiving task fails, the task planning satellite is fed back, and the task planning satellite re-plans according to the situation or confirms that the task transfer fails, and the task transfer ends; Step 5, after the task planning satellite receives the information that the task receiving satellite successfully locates, the task transfer is confirmed to be completed; If the task transfer satellite is still executing the task at this time, a stop task command can be sent, and the task transfer satellite stops the current task according to the command; The step 3 specifically comprises that the task planning satellite obtains a measured point of the target to be observed and an error model through a constellation resource management module, and obtains state information of each satellite in the constellation; the task planning satellite calculates extrapolated trajectories of the target to be observed and the satellites through a trajectory extrapolation module; target visible stars of each satellite in the constellation are calculated; an error ellipsoid radius of the corresponding target to be observed is calculated according to an interception time; an interception distance and a falling area radius are calculated; a transfer probability is calculated based on a ratio of the falling area radius to the error ellipsoid radius; and a task is allocated to a satellite combination with the highest transfer probability and the best joint observation effect through a task allocation module. The step of calculating the error ellipsoid radius of the corresponding target to be observed according to the interception time specifically comprises: Let the target initial position, velocity, acceleration errors be P tar_0 , V tar_0 , a tar_0 , respectively, and the position estimation error estimation obeys a three-dimensional joint Gaussian distribution with mean 0, then the extrapolated position estimation error also obeys a three-dimensional joint Gaussian distribution with mean 0; the error ellipsoid radius of the intercept time t is R error (t), then R error (t) obeys a three-dimensional Gaussian distribution: The step of calculating the interception distance and the falling area radius specifically comprises: The intercept distance refers to the straight-line distance between the satellite and the target when the target enters the field of view of the payload, defined as D st ; let θ be the field of view angle of the payload, and the half side length of the intercept falling region be D drop , then: The step of calculating the transfer probability based on the ratio of the falling area radius to the error ellipsoid radius specifically comprises: When the falling edge length is relatively small compared with the star target distance, the falling probability calculation is simplified as follows: e I is the position estimate error vector, subject to a zero-mean three-dimensional joint Gaussian distribution, P I is the position estimate error three-dimensional variance matrix, e I ~ N(0, P I ); assuming the three-dimensional directions of the estimation error are completely uncorrelated, P I is a diagonal matrix with elements R error (t) 2 ; then: Where w is a radius of the error ellipsoid in a certain direction in a three-dimensional orthogonal coordinate system with the center of the error ellipsoid as the origin.

2. The method according to claim 1, wherein, In the step 3, the task planning satellite further fuses the received single-satellite target observation information through a target situation management module, obtains comprehensive target situation information, evaluates target positioning, and evaluates a priority of task execution.

3. The method according to claim 1, wherein, In the step 3, the task allocation module in the task planning satellite further evaluates task execution efficiency according to constellation resource state, target situation information and visible star transfer probability, optimizes allocation of tracking resources, resolves task conflicts, and completes target transfer task planning and execution allocation.

4. A multi-satellite cooperative task planning system based on transfer probability, comprising a task transfer satellite, a task planning satellite and a task receiving satellite, and being used for executing the method in any one of claims 1-3. The task transfer satellite acquires state information of a target to be observed and an error model, the state information of the target to be observed including spatial position information and velocity information, and the error model including position error, velocity error and acceleration error; The task planning satellite maintains state information of all satellites in the constellation, and acquires the target information to be observed and the error model sent by the task transfer satellite; The task planning satellite selects a task receiving satellite according to the state information of each satellite in the constellation and the target to be observed, and sends a task execution command to the task receiving satellite; The task receiving satellite detects the target to be observed according to the command, completes the receiving task of the target, and feeds back to the task planning satellite; If the receiving task fails, the task planning satellite is fed back, and the task planning satellite re-plans according to the situation; or the task planning satellite confirms that the task transfer fails, and the task transfer ends; After the task planning satellite receives the information that the task receiving satellite successfully locates, the task planning satellite confirms that the task transfer is completed; if the task transfer satellite is still executing the task at this time, the task transfer satellite can send a stop task command, and the task transfer satellite stops the current task according to the command.

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