Inter-satellite cooperative situation task modeling method based on observability and controllability analysis

Abstract

An inter-satellite cooperative situation task modeling method based on observability and controllability analysis comprises the steps that inter-satellite cooperative task planning constraints are defined, and inter-satellite cooperative task constraints are defined; processing an inter-satellite cooperation task and a data transmission window uploaded by a user, determining an inter-satellite cooperation task time period and a data transmission playback available time period, and obtaining the inter-satellite cooperation task and effective data transmission window constraint information; defining an inter-satellite guidance task received in an inter-satellite cooperation task period as a first-level situation task; and performing perceptual classification on the first-level situation tasks based on the non-deterministic characteristics of the first-level situation tasks, and outputting observable and controllable second-level situation tasks. The method provided by the invention has relatively high universality, and can be applied to satellites with an autonomous task planning function in an inter-satellite guidance task scene.

Description

Technical Field

[0001] The invention relates to an inter-satellite collaborative situation task modeling method based on observability and controllability analysis, and belongs to the technical field of autonomous task planning on satellites. Background Art

[0002] With the rapid development of space constellation technology, intersatellite collaborative missions are becoming more and more complex and diverse. In order to make full use of constellation resources and enable multiple satellites in the constellation to collaborate efficiently, on-board autonomous mission planning has become one of the indispensable functions of such satellites. Under the scheduling of on-board autonomous mission planning, after the satellite enters the intersatellite collaborative mission period, it receives the intersatellite guidance mission distributed in real time by the guide satellite through the intersatellite link, performs collaborative mission planning and drives the entire satellite to perform detection missions, which greatly improves the autonomous capabilities of the satellite and even the constellation while ensuring high timeliness.

[0003] The main task of autonomous mission planning is to autonomously select a series of orderly activities to form a planning scheme to complete a specific space mission based on the mission requirements of the satellite, the current status of each subsystem on the satellite, the satellite working mode and payload characteristics, etc., under various constraints. However, for intersatellite situational tasks, the tasks themselves are sudden and uncertain, and have high timeliness requirements. Traditional mission planning systems rarely handle such tasks.

[0004] Therefore, it is necessary to establish a set of methods to effectively handle intersatellite situational tasks, better respond to the needs of complex detection missions, improve mission execution efficiency and reliability, reduce execution risks, and facilitate the effective observation of multiple mission objectives. Summary of the invention

[0005] The technical problem to be solved by the present invention is: to overcome the shortcomings of the prior art and propose a method for modeling inter-satellite collaborative situational tasks based on observability and controllability analysis, which effectively utilizes the state information of the control system, organically combines the detected situational targets and the control capabilities of the control system, better responds to complex detection mission requirements, improves mission execution efficiency and reliability, reduces execution risks, and is conducive to the effective observation of multiple mission targets.

[0006] The purpose of the present invention is achieved through the following technical solutions:

[0007] A method for modeling intersatellite collaborative situational tasks based on observability and controllability analysis, comprising:

[0008] 1) Definition of constraints for intersatellite collaborative mission planning

[0009] 11) Constraint 1, single-star task constraint S = {IMTask_t, Vad, SEA, Mvk, SWATH, SDC, FILE};

[0010] Among them, IMTask_t represents the imaging duration of the detection mission, Vad represents the payload field of view angle, SEA represents the solar altitude angle, Mvk represents the attitude maneuverability, SWATH represents the payload camera width, SDC represents the storage capacity, and FILE represents the record file number;

[0011] 12) Constraint 2, intersatellite collaborative mission start time constraint CorpTs;

[0012] 13) Constraint 3, intersatellite collaborative mission duration constraint CorpTd;

[0013] 14) Constraint 4, inter-satellite collaborative mission rolling frequency constraint f;

[0014] 14) Constraint 5, collaborative data transmission window constraint DTWin;

[0015] 2) Intersatellite collaborative task confirmation: Process the intersatellite collaborative tasks and data transmission windows registered by the user, determine the intersatellite collaborative task time period and the available time period for data transmission playback, and obtain the intersatellite collaborative tasks and effective data transmission window constraint information;

[0016] Furthermore, the inter-satellite collaborative task constraint information in step 2) is specifically:

[0017] CorpTs={ts1,ts2,...,ts i CorpTd = {dt1, dt2, ..., dt i}, f∈(f min ,f max );

[0018] Step 2) The effective data transmission window constraint is specifically:

[0019] DTWin={Dtwin1[ts1,te1],Dtwin2[ts2,te2],...,Dtwin i [ts i ,te i ]}.

[0020] 3) Definition of the first-level situation task: When the satellite enters the intersatellite collaborative task period described in step 2), it receives the intersatellite guidance task through the intersatellite link, which is defined as the first-level situation task;

[0021] Furthermore, the first-level situation task in step 3) is uncertain, the task information itself is clear, and has the characteristics of dynamically increasing in number within an indefinite period, specifically:

[0022] Basic information attributes: (δ, λ, h), t c ,PRI,CONF;

[0023] Movement attributes: v;

[0024] Situation task type: Type;

[0025] Among them, (δ, λ, h) represents the geographical longitude, latitude and altitude of the ground-fixed target point, t c represents the target observation transient time, PRI represents the target priority, and CONF represents the target confidence; v represents the target motion velocity vector, which describes the dynamic properties of the input task; Type is used as an index to match the target features in the situation task database, and the user-defined detection target attributes, including the detection target type feature information, target coverage area information, etc.

[0026] 4) Based on the non-deterministic characteristics of the first-level situation task in step 3), perceive and classify it, and output an observable and controllable second-level situation task;

[0027] 41) Perform observability analysis on the first-level situation task, requiring that the target can be fully covered as observable, respectively using the processing methods of fixed point target, quadrilateral area target, strip target and circular area target, combined with the single-satellite task constraint S in step 1), judge the observability of the input task through visibility analysis calculation, output the valid task set, and calculate the visible time interval of each task in each orbital circle;

[0028] Furthermore, the effective task set in step 41) is defined as: Task Vaild ={T1,T2,T3...T i};

[0029] Step 41) The visible time interval is positioned as TaskJudge, specifically:

[0030] TaskJudge={SubTask1[t_os_f1,t_os_m1,t_os_h1],

[0031] SubTask2[t_os_f2,t_os_m2,t_os_h2],...,

[0032] SubTask i [t_os_f i ,t_os_m i ,t_os_h i ]};

[0033] Among them, t_os_f represents the earliest start time of the observation task, t_os_m represents the midpoint time of the observation task, and t_os_h represents the latest start time of the observation task.

[0034] 42) For the effective task set described in step 41) and the visible time interval of each task in each orbital circle, combined with the single-satellite task constraint S described in step 1), the task controllability analysis process is calculated by processing fixed point targets, quadrilateral area targets, strip targets and circular area targets respectively. If the processing is successful, the task is controllable, and the classification of the first-level situation task is output, which is defined as the second-level situation task;

[0035] Furthermore, the controllability analysis process described in step 42) is specifically as follows:

[0036] (1) For fixed point target tasks, TaskJudge is used to calculate the pose of the target point;

[0037] (2) Performing region segmentation processing on quadrilateral region tasks: Combined with TaskJudge, SWATH determines the segmentation direction and the number of segmentation strips, giving priority to the segmentation direction with fewer segmentation strips, and calculating the posture of the strip endpoints;

[0038] (3) Performing zigzag task splicing processing on zigzag target tasks: Combined with TaskJudge, SWATH determines the splicing group relationship of the strip tasks, determines the strip sweep direction, and calculates the attitude of the strip endpoints;

[0039] (4) Perform circular area segmentation processing on the circular area target task: Combined with TaskJudge, SWATH determines the segmentation direction and the number of segmentation strips, gives priority to the segmentation direction with fewer segmentation strips, and calculates the posture of the strip endpoints.

[0040] (5) Confirm the processing results in (1-4), input the situation task classification, that is, the second-level situation task: T = {Ta, Tb, Tc, Td}, and update Task Vaild and TaskJudge.

[0041] 43) For the secondary situation task described in step 42), a corresponding processing strategy is determined based on the task type characteristics.

[0042] Furthermore, the secondary situation task in step 43) is defined as:

[0043] (1) Center transient fixed state, T a ={δ,λ,h,PRI,CONF};

[0044] (2) Regional transient fixed situation,

[0045] T b ={δ1,λ1,h1,δ2,λ2,h2,δ3,λ3,h3,δ4,λ4,h4,PRI,CONF};

[0046] (3) Central directional movement situation, T c ={δ s ,λ s ,h s ,δ e ,λ e ,h e ,t s ,t e ,v c ,PRI,CONF};

[0047] (4) Central non-directional movement situation, T d ={δ,λ,h,t c ,v d ,PRI,CONF};

[0048] Define the priority of the task type: Highest T d , the second highest T c , the second lowest T b , minimum T a ;

[0049] Among them, δ1,λ1,h1~δ4,λ4,h4 represent the latitude and longitude of the target vertex in the quadrilateral area; δ s ,λ s ,h s Indicates the latitude and longitude of the target starting position, δ e ,λ e ,h e Indicates the latitude and longitude of the target end point, t s Indicates the start time of the line sweep, t e Indicates the end time of the line sweep, v c Indicates the directional motion speed of the moving target, v d Indicates the non-directional motion speed of a moving target.

[0050] Furthermore, the processing strategy for the secondary situation task in step 43) is specifically as follows:

[0051] (1) The center transient state is fixed, and the observed target transient state is treated as a stationary point target and processed as a fixed point target task;

[0052] (2) Regional transient fixed situation: the target transient is observed as a stationary quadrilateral regional target and is processed as a fixed regional target task;

[0053] (3) Center-directed motion situation: the observed target has a relatively fixed speed and direction, and the motion trajectory of the target’s starting and ending points is processed as a broken line target task;

[0054] (4) Central non-directional motion situation: the observed target has a relatively uncertain motion direction. According to the target observation instantaneous coordinates, instantaneous motion speed and observation instantaneous time, it is processed into a circular area target task with the instantaneous coordinates as the center and the motion distance as the radius.

[0055] An electronic device, comprising:

[0056] Processor; and

[0057] a memory for storing computer program instructions;

[0058] When the computer program instructions are loaded and executed by the processor, the processor executes the inter-satellite collaborative situational mission modeling method based on observability and controllability analysis.

[0059] A computer program product stored on a non-transitory computer-readable medium includes program codes for implementing the inter-satellite collaborative situational mission modeling method based on observability and controllability analysis.

[0060] Compared with the prior art, the present invention has the following beneficial effects:

[0061] (1) The present invention quantifies and grades the intersatellite situation tasks, and quantifies the first-level situation tasks of intersatellite guidance with uncertainty description into second-level situation tasks.

[0062] (2) The present invention confirms the situation task based on observability and controllability analysis. First, the observability analysis results of the situation task within the coordination cycle are calculated and obtained. Then, under the premise that the task is observable, the controllability calculation of the secondary situation task is completed according to the maneuverability of the control system, and finally four types of tasks are formed. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] Figure 1 This is a classification flow chart of intersatellite collaborative situational task perception according to the present invention. DETAILED DESCRIPTION

[0064] To make the objectives, technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0065] A method for modeling intersatellite collaborative situation tasks based on observable and controllable analysis includes: defining intersatellite collaborative task planning constraints, clarifying intersatellite collaborative task constraints; processing intersatellite collaborative tasks and data transmission windows registered by users, determining intersatellite collaborative task time periods and available data transmission playback time periods, and obtaining intersatellite collaborative tasks and effective data transmission window constraint information; defining intersatellite guidance tasks received within the intersatellite collaborative task time period as primary situation tasks; based on the non-deterministic characteristics of the primary situation tasks, perceiving and classifying them, and outputting observable and controllable secondary situation tasks. The method proposed in the present invention has strong versatility and can be applied to satellites with autonomous task planning functions in intersatellite guidance task scenarios.

[0066] More specifically, the following steps are included:

[0067] 1) Definition of constraints for intersatellite collaborative mission planning

[0068] 11) Constraint 1, single-star task constraint S = {IMTask_t, Vad, SEA, Mvk, SWATH, SDC, FILE};

[0069] Among them, IMTask_t represents the imaging duration of the detection mission, Vad represents the payload field of view angle, SEA represents the solar altitude angle, Mvk represents the attitude maneuverability, SWATH represents the payload camera width, SDC represents the storage capacity, and FILE represents the record file number;

[0070] 12) Constraint 2, intersatellite collaborative mission start time constraint CorpTs;

[0071] 13) Constraint 3, intersatellite collaborative mission duration constraint CorpTd;

[0072] 14) Constraint 4, inter-satellite collaborative mission rolling frequency constraint f;

[0073] 14) Constraint 5, collaborative data transmission window constraint DTWin;

[0074] 2) Intersatellite collaborative task confirmation: Process the intersatellite collaborative tasks and data transmission windows registered by the user, determine the intersatellite collaborative task time period and the available time period for data transmission playback, and obtain the intersatellite collaborative tasks and effective data transmission window constraint information;

[0075] Furthermore, the inter-satellite collaborative task constraint information in step 2) is specifically:

[0076] CorpTs={ts1,ts2,...,ts i}, where ts1~ts i Indicates the task start time of intersatellite collaborative tasks 1 to i;

[0077] CorpTd={dt1,dt2,...,dti}, where dt1~dt i Indicates the mission duration of intersatellite collaborative missions 1 to i;

[0078] f∈(f min ,f max ), where f min and f max They represent the minimum and maximum values ​​of the rolling frequency of the intersatellite collaborative mission respectively;

[0079] Step 2) The effective data transmission window constraint is specifically:

[0080] DTWin={Dtwin1[ts1,te1],Dtwin2[ts2,te2],...,Dtwin i [ts i ,te i ]}, where Dtwin1~Dtwin i Indicates data transmission window 1~i, ts1~ts i and ts1~ts i They respectively represent the start time and end time of data transmission windows 1 to i.

[0081] 3) Definition of the first-level situation task: When the satellite enters the intersatellite collaborative task period described in step 2), it receives the intersatellite guidance task through the intersatellite link, which is defined as the first-level situation task;

[0082] Furthermore, the first-level situation task in step 3) is uncertain, the task information itself is clear, and has the characteristics of dynamically increasing in number within an indefinite period, specifically:

[0083] Basic information attributes: (δ, λ, h), t c ,PRI,CONF;

[0084] Movement attributes: v;

[0085] Situation task type: Type;

[0086] Among them, (δ, λ, h) represents the geographical longitude, latitude and altitude of the ground-fixed target point, t c represents the target observation transient time, PRI represents the target priority, and CONF represents the target confidence; v represents the target motion velocity vector, which describes the dynamic properties of the input task; Type is used as an index to match the target features in the situation task database, and the user-defined detection target attributes, including the detection target type feature information, target coverage area information, etc.

[0087] 4) Based on the non-deterministic characteristics of the first-level situation task in step 3), perceive and classify it, and output an observable and controllable second-level situation task;

[0088] 41) Perform observability analysis on the first-level situation task, requiring that the target can be fully covered as observable, respectively using the processing methods of fixed point target, quadrilateral area target, strip target and circular area target, combined with the single-satellite task constraint S in step 1), judge the observability of the input task through visibility analysis calculation, output the valid task set, and calculate the visible time interval of each task in each orbital circle;

[0089] The visibility analysis calculation process is as follows:

[0090] (1) Calculate L i , use the binary search method to obtain the orbit interval where ur_s_ep is located. When the target interval is less than min, it is considered that the target orbit interval is found;

[0091] (2) The interpolation method is used to obtain the orbital data r of the midpoint i of the dichotomy method and calculate

[0092] (3) Calculation

[0093] (4) Calculation V Li =arccos(L i );

[0094] (5) Judgment, when Va Li When it is greater than Li_Vad_angle, Va is set to invalid;

[0095] (6) Judgment: When Va is less than Vad, the visibility condition is met;

[0096] Among them, L i It represents the angle between the earth-fixed satellite unit vector and the target unit vector from the center of the earth. ur_s_ep represents the earth-fixed unit vector. min represents the judgment threshold parameter. Re represents the radius of the earth. r represents the distance from the center of the earth. a represents the semi-major axis of the orbit. Va represents the imaging field of view.

[0097] Furthermore, the effective task set in step 41) is defined as:

[0098] Task V aild={T1,T2,T3...Ti}, where T1~T i Indicates effective tasks judged by observability;

[0099] Step 41) The visible time interval is positioned as TaskJudge, specifically:

[0100] TaskJudge={SubTask1[t_os_f1,t_os_m1,t_os_h1],

[0101] SubTask2[t_os_f2,t_os_m2,t_os_h2],...,

[0102] SubTask i [t_os_f i ,t_os_m i ,t_os_h i ]};

[0103] Among them, SubTask1~SubTask i Indicates observation subtasks 1 to i, t_os_f1 to t_os_f i Indicates the earliest start time of observation subtasks 1 to i, t_os_m1 to t_os_m i Indicates the midpoint time of observation subtasks 1 to i, t_os_h1 to t_os_h i 1~i represent the latest start time of the sub-observation task.

[0104] 42) For the effective task set described in step 41) and the visible time interval of each task in each orbital circle, combined with the single-satellite task constraint S described in step 1), the task controllability analysis process is calculated by processing fixed point targets, quadrilateral area targets, strip targets and circular area targets respectively. If the processing is successful, the task is controllable, and the classification of the first-level situation task is output, which is defined as the second-level situation task;

[0105] Furthermore, the controllability analysis process in step 42) is specifically as follows:

[0106] (1) For fixed point target tasks, TaskJudge is used to calculate the pose of the target point;

[0107] (2) Performing region segmentation processing on quadrilateral region tasks: Combined with TaskJudge, SWATH determines the segmentation direction and the number of segmentation strips, giving priority to the segmentation direction with fewer segmentation strips, and calculating the posture of the strip endpoints;

[0108] (3) Performing zigzag task splicing processing on zigzag target tasks: Combined with TaskJudge, SWATH determines the splicing group relationship of the strip tasks, determines the strip sweep direction, and calculates the attitude of the strip endpoints;

[0109] (4) Perform circular area segmentation processing on the circular area target task: Combined with TaskJudge, SWATH determines the segmentation direction and the number of segmentation strips, gives priority to the segmentation direction with fewer segmentation strips, and calculates the posture of the strip endpoints.

[0110] (5) Confirm the processing results in (1-4), input the situation task classification, that is, the second-level situation task: T = {Ta, Tb, Tc, Td}, and update Task Vaild and TaskJudge.

[0111] 43) For the secondary situation task described in step 42), a corresponding processing strategy is determined based on the task type characteristics.

[0112] Furthermore, the secondary situation task in step 43) is defined as:

[0113] (1) Center transient fixed state, T a ={δ,λ,h,PRI,CONF};

[0114] (2) Regional transient fixed situation,

[0115] T b ={δ1,λ1,h1,δ2,λ2,h2,δ3,λ3,h3,δ4,λ4,h4,PRI,CONF};

[0116] (3) Central directional movement situation, T c ={δ s ,λ s ,h s ,δ e ,λ e ,h e ,t s ,t e ,v c ,PRI,CONF};

[0117] (4) Central non-directional movement situation, T d ={δ,λ,h,t c ,v d ,PRI,CONF};

[0118] Define the priority of the task type: Highest T d , the second highest T c , the second lowest T b , minimum T a ;

[0119] Among them, δ1,λ1,h1~δ4,λ4,h4 represent the latitude and longitude of the target vertex in the quadrilateral area; δ s ,λ s ,h s Indicates the latitude and longitude of the target starting position, δ e ,λ e ,h e Indicates the latitude and longitude of the target end point, ts Indicates the start time of the line sweep, t e Indicates the end time of the line sweep, v c Indicates the directional motion speed of the moving target, v d Indicates the non-directional motion speed of a moving target.

[0120] Furthermore, the processing strategy for the secondary situation task in step 43) is specifically as follows:

[0121] (1) The center transient state is fixed, and the observed target transient state is treated as a stationary point target and processed as a fixed point target task;

[0122] (2) Regional transient fixed situation: the target transient is observed as a stationary quadrilateral regional target and is processed as a fixed regional target task;

[0123] (3) Center-directed motion situation: the observed target has a relatively fixed speed and direction, and the motion trajectory of the target’s starting and ending points is processed as a broken line target task;

[0124] (4) Central non-directional motion situation: the observed target has a relatively uncertain motion direction. According to the target observation instantaneous coordinates, instantaneous motion speed and observation instantaneous time, it is processed into a circular area target task with the instantaneous coordinates as the center and the motion distance as the radius.

[0125] The contents not described in detail in the specification of the present invention belong to the common knowledge of those skilled in the art.

[0126] Although the present invention has been disclosed as above in the form of a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art may make possible changes and modifications to the technical solution of the present invention by using the methods and technical contents disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention shall fall within the protection scope of the technical solution of the present invention.

Claims

1. A method for modeling intersatellite collaborative situational tasks based on observability and controllability analysis, characterized in that: include: S1. Define the constraints for intersatellite collaborative mission planning, including: Constraint 1, single-star task constraint S = {IMTask_t, Vad, SEA, Mvk, SWATH, SDC, FILE}; Among them, IMTask_t represents the imaging duration of the detection mission, Vad represents the payload field of view angle, SEA represents the solar altitude angle, Mvk represents the attitude maneuverability, SWATH represents the payload camera width, SDC represents the storage capacity, and FILE represents the record file number; Constraint 2, intersatellite collaborative mission start time constraint CorpTs; Constraint 3, intersatellite collaborative mission duration constraint CorpTd; Constraint 4, inter-satellite collaborative mission rolling frequency constraint f; Constraint 5, collaborative data transmission window constraint DTWin; S2. Confirm the intersatellite collaborative task: process the intersatellite collaborative task and data transmission window registered by the user, determine the intersatellite collaborative task period and the available period for data transmission playback, and obtain the intersatellite collaborative task start time constraint CorpTs, intersatellite collaborative task duration constraint CorpTd, intersatellite collaborative task rolling frequency constraint f and collaborative data transmission window constraint DTWin; S3, when the satellite enters the intersatellite collaborative mission period described in S2, it receives the intersatellite guidance mission through the intersatellite link, which is defined as the first-level situation mission; S4. Based on the single-star mission constraint S, the observability analysis of the first-level situation tasks is performed, the effective task set is output, and the visible time interval of each task in each orbital circle is calculated; then the task controllability analysis is performed, and the observable and controllable second-level situation tasks are output; for the second-level situation tasks, the corresponding processing strategy is determined based on the task type characteristics.

2. The intersatellite collaborative situation task modeling method according to claim 1, characterized in that: The task information of the first-level situation task is clear, and has the characteristics of dynamically increasing in number within an indefinite period. Specifically: Basic information attributes: (δ, λ, h), t c ,PRI,CONF; Movement attributes: v; Situation task type: Type; Among them, (δ, λ, h) represents the geographical longitude, latitude and altitude of the ground-fixed target point, t c represents the target observation transient time, PRI represents the target priority, and CONF represents the target confidence; v represents the target motion velocity vector, which describes the dynamic properties of the input task; Type is used as an index to match the target features in the situation task database, and the user-defined detection target attributes, including the detection target type feature information and the target coverage area information.

3. The intersatellite collaborative situation task modeling method according to claim 1, characterized in that: The observability analysis of the first-level situational tasks requires that the targets can be fully covered. Fixed point targets, quadrilateral area targets, strip targets and circular area targets are processed respectively. Combined with the single-satellite task constraint S, the observability of the input tasks is judged through visibility analysis and calculation, and the valid task set is output. The visible time interval of each task in each orbital circle is calculated.

4. The intersatellite collaborative situation task modeling method according to claim 3 is characterized in that: The visibility analysis calculation process is as follows: (1) Calculate L i , use the binary search method to obtain the orbit interval where ur_s_ep is located. When the target interval is less than min, it is considered that the target orbit interval is found; (2) The interpolation method is used to obtain the orbital data r of the midpoint i of the dichotomy method and calculate (3) Calculation (4) Calculation V Li =arccos(L i ); (5) When Va Li When it is greater than Li_Vad_angle, Va is set to invalid; (6) When Va is less than Vad, the visibility condition is met; Among them, L i It represents the angle between the earth-fixed satellite unit vector and the target unit vector from the center of the earth. ur_s_ep represents the earth-fixed unit vector. min represents the judgment threshold parameter. Re represents the radius of the earth. r represents the distance from the center of the earth. a represents the semi-major axis of the orbit. Va represents the imaging field of view.

5. The intersatellite collaborative situation task modeling method according to claim 3, characterized in that: The visible time interval is positioned as TaskJudge, specifically: TaskJudge={SubTask1[t_os_f1,t_os_m1,t_os_h1], SubTask2[t_os_f2,t_os_m2,t_os_h2],..., SubTask i [t_os_f i ,t_os_m i ,t_os_h i ]}; Among them, SubTask1~SubTask i Indicates observation subtasks 1 to i, t_os_f1 to t_os_f i Indicates the earliest start time of observation subtasks 1 to i, t_os_m1 to t_os_m i Indicates the midpoint time of observation subtasks 1 to i, t_os_h1 to t_os_h i 1~i represent the latest start time of the sub-observation task.

6. The intersatellite collaborative situation task modeling method according to claim 5, characterized in that: The controllability analysis process is as follows: (1) For fixed point target tasks, TaskJudge is used to calculate the pose of the target point; (2) Performing region segmentation processing on quadrilateral region tasks: Combined with TaskJudge, SWATH determines the segmentation direction and the number of segmentation strips, selects the segmentation direction with fewer segmentation strips, and calculates the posture of the strip endpoints; (3) Performing zigzag task splicing processing on zigzag target tasks: Combined with TaskJudge, SWATH determines the splicing group relationship of the strip tasks, determines the strip sweep direction, and calculates the attitude of the strip endpoints; (4) Perform circular area segmentation processing on the circular area target task: Combined with TaskJudge, SWATH determines the segmentation direction and the number of segmentation strips, selects the segmentation direction with fewer segmentation strips, and calculates the posture of the strip endpoints. (5) Confirm the processing results in (1-4), input the situation task classification, that is, the second-level situation task: T = {Ta, Tb, Tc, Td}, and update Task Vaild and TaskJudge.

7. The intersatellite collaborative situation task modeling method according to claim 1, characterized in that: The secondary situational tasks are defined as: (1) Center transient fixed state, T a ={δ,λ,h,PRI,CONF}; (2) Regional transient fixed situation, T b ={δ1,λ1,h1,δ2,λ2,h2,δ3,λ3,h3,δ4,λ4,h4,PRI,CONF}; (3) Central directional movement situation, T c ={δ s ,λ s ,h s ,δ e ,λ e ,h e ,t s ,t e ,v c ,PRI,CONF}; (4) Central non-directional movement situation, T d ={δ,λ,h,t c ,v d ,PRI,CONF}; Define the priority of the task type: Highest T d , the second highest T c , the second lowest T b , minimum T a ; Among them, δ1,λ1,h1~δ4,λ4,h4 represent the latitude and longitude of the target vertex in the quadrilateral area; δ s ,λ s ,h s Indicates the latitude and longitude of the target starting position, δ e ,λ e ,h e Indicates the latitude and longitude of the target end point, t s Indicates the start time of line sweep, t e Indicates the end time of the line sweep, v c Indicates the directional motion speed of the moving target, v d Indicates the non-directional motion speed of a moving target.

8. The intersatellite collaborative situation task modeling method according to claim 1, characterized in that: The specific processing strategy for the secondary situation task is: (1) The center transient state is fixed, and the observed target transient state is treated as a stationary point target and processed as a fixed point target task; (2) Regional transient fixed situation: the target transient is observed as a stationary quadrilateral regional target and is processed as a fixed regional target task; (3) Center-directed motion situation: the observed target has a relatively fixed speed and direction, and the motion trajectory of the target’s starting and ending points is processed as a broken line target task; (4) Central non-directional motion situation: the observed target has a relatively uncertain motion direction. According to the target observation instantaneous coordinates, instantaneous motion speed and observation instantaneous time, it is processed into a circular area target task with the instantaneous coordinates as the center and the motion distance as the radius.

9. An electronic device, comprising: processor; as well as a memory for storing computer program instructions; When the computer program instructions are loaded and executed by the processor, the processor performs the method according to any one of claims 1 to 8.

10. A computer program product stored on a non-transitory computer readable medium, the computer program product comprising a program code for carrying out the method according to any one of claims 1 to 8.

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