Point target observation task autonomous allocation method and system based on satellite constellation

Abstract

The invention provides a point target observation task autonomous allocation method and system based on a satellite constellation. The method comprises the steps that S1, a constellation main satellite gathers point target observation tasks and establishes a task allocation model; s2, the master satellite sends the observation task to each slave satellite of the constellation; s3, each slave satellite of the constellation calculates a visible time window and resource consumption of the point target; s4, the slave satellites of the constellation send calculation results to the master satellite; s5, the primary satellite allocates the point targets according to a task allocation strategy; and S6, the master satellite sends a task allocation result to each slave satellite. According to the method, task allocation is carried out by using a traditional method, and a better task allocation effect is achieved by striving to occupy less satellite resources; the satellite constellation can autonomously perform task allocation in orbit, so that the effectiveness of task allocation is improved, the potential risk of ground operation is reduced, and the safety and success rate of tasks are improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of satellite autonomous mission planning, and specifically relates to a method and system for autonomously allocating point target observation tasks based on a satellite constellation, and more particularly to a method and system for autonomously allocating point target observation tasks based on a small-scale satellite constellation. Background Art

[0002] A satellite constellation is a system composed of multiple satellites that work together to complete various tasks, such as communication, navigation, earth observation, etc. How to effectively manage and schedule these satellites so that they can complete their tasks efficiently has become a pressing problem to be solved.

[0003] Constellation mission planning algorithms have emerged. The basic idea is to optimize the use of satellite resources by reasonably allocating tasks and improving the operating efficiency of the entire satellite system. In satellite constellation mission planning, many factors need to be considered, such as the satellite's orbit, attitude, sensors, communication, energy, etc. These factors affect each other, making satellite constellation mission planning a complex optimization problem.

[0004] In order to solve this problem, people have proposed a variety of optimization algorithms, such as genetic algorithm, ant colony algorithm, particle swarm algorithm, simulated annealing algorithm, etc. These algorithms can solve the satellite constellation mission planning problem to a certain extent, but there are still some limitations, such as high computational complexity, slow convergence speed, and easy to fall into local optimality. In recent years, people have proposed some improved algorithms, such as multi-objective optimization, multi-agent collaborative optimization, dynamic programming, etc. These algorithms can improve the efficiency and effect of satellite constellation mission planning, but still need further research and improvement.

[0005] With the advancement of science and technology and the development of satellite communication technology, constellation communication systems have the advantages of high bandwidth, high speed, and high reliability, providing strong technical support for the realization of autonomous on-orbit mission planning of satellite constellations. How to carry the constellation mission planning algorithm on the satellite requires comprehensive consideration of multiple factors to obtain an effective solution.

[0006] Patent document CN106570614A discloses a solution for autonomous distributed task scheduling on a satellite. However, due to the lack of optimization of the scheduling strategy, it requires repeated iterations to complete the task scheduling, which increases the complexity of the algorithm and the calculation time. Summary of the invention

[0007] In view of the defects in the prior art, the object of the present invention is to provide a method and system for autonomous allocation of point target observation tasks based on a satellite constellation.

[0008] A method for autonomously allocating point target observation tasks based on a satellite constellation provided by the present invention includes:

[0009] Step 1: Observation mission of the main star of the constellation;

[0010] Step 2: The constellation master satellite sends the point target observation task to each slave satellite;

[0011] Step 3: Each satellite in the constellation calculates the visible time window and resource consumption of the point target as the calculation result according to the point target observation task;

[0012] Step 4: Each slave satellite sends the calculation results to the master satellite;

[0013] Step 5: The constellation master allocates point targets according to the calculation results and the task allocation strategy to obtain the task allocation result;

[0014] Step 6: The constellation master star sends the task allocation results to each slave star.

[0015] Preferably, the task allocation strategy of the constellation master is: taking point targets as units, taking meeting the observation resource demand as a constraint condition, allocating the point targets with high priority first, and allocating the limited observation resources of the satellite.

[0016] Preferably, when allocating a point target, if the point target is visible to a single satellite and satellite resources are sufficient, the target is allocated to the visible satellite; if the target can be observed by multiple satellites, the target number is recorded first, and the allocation is performed after the targets visible to a single satellite are allocated;

[0017] After ensuring that the targets visible to a single satellite are allocated, the targets visible to multiple satellites are allocated. During the specific allocation, if insufficient resources occur, the allocated low-priority targets are removed and the high-priority targets are placed in the allocation list.

[0018] Preferably, the task allocation strategy includes:

[0019] Step 5A: Sort the point targets by priority from high to low, traverse the point targets, record as loop 1, and execute step 5B and step 5C in loop 1;

[0020] Step 5B: Calculate the allocatable satellite set that meets the point target observation resource constraint condition. If the number of satellites in the set is 0, do not allocate this target. If the number of satellites in the set is 1, allocate the target to the only allocatable satellite and execute step 5C. If the number of satellites in the set is greater than 1, record the target number in the multi-satellite observation target list.

[0021] Step 5C: Update the allocated satellite energy and storage resource margins. If the available resource margins of all satellites in the constellation are 0, the algorithm ends.

[0022] Step 5D: After loop 1 of step 5A is completed, traverse the multi-star observation grid list, which is recorded as loop 2, and execute step 5E and step 5F;

[0023] Step 5E: Recalculate the allocatable satellite set that meets the point target observation resource constraint conditions. If the number of satellites in the set is 1, the target is assigned to the only allocatable satellite and step 5C is executed. If the number of satellites in the set is greater than 1, it is assigned to the satellite with the earliest visible time window and step 5C is executed. If the number of satellites in the set is 0, the lowest priority of the point targets assigned to each satellite is compared, and the lowest priority is compared with the current target. If the current target has a high priority, the satellite removes the point target with the lowest priority and puts the current point target into the assigned list and step 5F is executed. If the current target has a low priority, the target is not assigned.

[0024] Step 5F: sort the assigned list of satellites to be inserted into the target according to priority;

[0025] When step 5 D loop 2 is completed, the algorithm ends.

[0026] Preferably, the constellation master satellite updates the load and energy status of each single satellite in the constellation in real time, and distributes tasks according to the real-time single satellite status and surrounding environment.

[0027] According to the present invention, a point target observation task autonomous allocation system based on a satellite constellation is provided, comprising:

[0028] Module 1: Let the main stars of the constellation gather point target observation tasks;

[0029] The second module: let the constellation master send the point target observation task to each slave satellite;

[0030] The third module: each satellite in the constellation calculates the visible time window and resource consumption of the point target as the calculation result according to the point target observation task;

[0031] The fourth module: each slave satellite sends the calculation results to the master satellite;

[0032] The fifth module: instructs the constellation master to allocate point targets according to the calculation results and the task allocation strategy to obtain the task allocation results;

[0033] Module 6: Instruct the constellation master star to send the task allocation results to each slave star.

[0034] Preferably, the task allocation strategy of the constellation master is: taking point targets as units, taking meeting the observation resource demand as a constraint condition, allocating the point targets with high priority first, and allocating the limited observation resources of the satellite.

[0035] Preferably, when allocating a point target, if the point target is visible to a single satellite and satellite resources are sufficient, the target is allocated to the visible satellite; if the target can be observed by multiple satellites, the target number is recorded first, and the allocation is performed after the targets visible to a single satellite are allocated;

[0036] After ensuring that the targets visible to a single satellite are allocated, the targets visible to multiple satellites are allocated. During the specific allocation, if insufficient resources occur, the allocated low-priority targets are removed and the high-priority targets are placed in the allocation list.

[0037] Preferably, the task allocation strategy includes:

[0038] The fifth A module: sort the point targets from high to low priority, traverse the point targets, and record it as loop 1. The fifth B module and the fifth C module are executed in loop 1;

[0039] The fifth B module: calculate the allocatable satellite set that meets the point target observation resource constraint conditions. If the number of satellites in the set is 0, the target is not allocated. If the number of satellites in the set is 1, the target is allocated to the only allocatable satellite and the fifth C module is executed. If the number of satellites in the set is greater than 1, the target number is recorded in the multi-satellite observation target list.

[0040] The fifth C module: updates the allocated satellite energy and storage resource margins. If the available resource margins of all satellites in the constellation are 0, the algorithm ends.

[0041] The fifth module D: After the fifth module A loop 1 is completed, the multi-satellite observation grid list is traversed, which is recorded as loop 2, and the fifth module E and the fifth module F are executed;

[0042] The fifth module E: recalculate the allocatable satellite set that meets the point target observation resource constraint conditions. If the number of satellites in the set is 1, the target is assigned to the only allocatable satellite and the fifth module C is executed. If the number of satellites in the set is greater than 1, the target is assigned to the satellite with the earliest visible time window and the fifth module C is executed. If the number of satellites in the set is 0, the lowest priority of the point targets assigned to each satellite is compared, and the lowest priority is compared with the current target. If the current target has a high priority, the satellite removes the point target with the lowest priority and puts the current point target into the assigned list and the fifth module F is executed. If the current target has a low priority, the target is not assigned.

[0043] The fifth F module: sort the assigned list of satellites to be inserted into the target according to priority;

[0044] When the fifth D module cycle 2 ends, the algorithm ends.

[0045] Preferably, the constellation master satellite updates the load and energy status of each single satellite in the constellation in real time, and distributes tasks according to the real-time single satellite status and surrounding environment.

[0046] Compared with the prior art, the present invention has the following beneficial effects:

[0047] 1. The present invention designs a constellation on-board autonomous task allocation method applicable to an on-board processing system, so that the constellation can independently perform task planning functions and reduce dependence on ground operations;

[0048] 2. The constellation master of the present invention updates the load and energy status of each single star in the constellation in real time, and can allocate tasks according to the real-time status of the single star and the surrounding environment, so as to better adapt to the current observation scenario and have adaptability.

[0049] 3. The on-board autonomous task allocation method of the present invention can reduce the potential risks of ground operations and increase the safety and success rate of the tasks.

[0050] 4. The clear task allocation strategy provided by the present invention performs scheduling in order of task priority. The scheduling process is clear and has high computational efficiency. The local optimal solution in the current state can be obtained without repeated iterative calculations, thereby reducing the complexity of the algorithm and the computing time. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0052] Figure 1 It is a flow chart of the autonomous allocation method of point target observation tasks based on satellite constellations of the present invention.

[0053] Figure 2 It is a flowchart of the task allocation strategy in the present invention. DETAILED DESCRIPTION

[0054] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0055] In the present invention, the technical problem to be solved is to provide a point target observation task allocation method based on a small-scale satellite constellation. The satellite constellation can autonomously perform task allocation in orbit, which improves the effectiveness of task allocation and is used for the satellite constellation to receive regional observation tasks in orbit and autonomously perform constellation task allocation.

[0056] See also Figure 1 As shown, the present invention provides a point target observation task allocation method based on a small-scale satellite constellation, comprising:

[0057] Step 1: The constellation master satellite summarizes the point target observation tasks, establishes the constellation task allocation model, and executes step 2;

[0058] A constellation task allocation model is established, which mainly includes information such as task allocation cycle, task allocation start time, task allocation end time, and task allocation resource reservation ratio. The sources of the point target observation tasks of the constellation master satellite include: observation tasks autonomously controlled by the constellation, intersatellite link forwarding or new observation task packages injected on the ground. The task allocation model includes information such as task allocation cycle, task allocation start time, task allocation end time, and task allocation resource reservation ratio.

[0059] Step 2: The constellation master satellite sends the point target observation task to each slave satellite and executes step 3;

[0060] The constellation master satellite packages the point target observation mission data and sends it to each slave satellite through inter-satellite links.

[0061] Step 3: Each slave satellite in the constellation calculates the visible time window and resource consumption of the point target, and executes step 4;

[0062] Each slave satellite in the constellation calculates the visible time window and resource consumption of the point target in the observation mission according to the start and end time of the observation mission. This includes: each slave satellite receives the point target list sent by the master satellite, calculates the visible time window of the point target within the task allocation cycle, and the energy and storage consumption required for observation, and packages the information after the calculation is completed.

[0063] Step 4: Each slave satellite sends the calculation results to the master satellite and executes step 5;

[0064] Each slave satellite packages its own satellite's resource margin and point target visibility information and sends it to the master satellite via the intersatellite link.

[0065] Step 5: The constellation master allocates point targets according to the task allocation strategy and executes step 6;

[0066] The task allocation strategy for the constellation master is: taking point targets as units, and satisfying observation resource requirements as constraints, assigning high-priority point targets first, and reasonably allocating the satellite's limited observation resources.

[0067] When allocating a point target, if the point target is visible to a single satellite and satellite resources are sufficient, the target will be allocated to the visible satellite. If the target can be observed by multiple satellites, the target number will be recorded first, and the target will be allocated after the targets visible to a single satellite are allocated.

[0068] After ensuring that the targets visible to a single satellite are allocated, the targets visible to multiple satellites are allocated. During the specific allocation, if insufficient resources occur, the allocated low-priority targets can be removed and the high-priority targets can be placed in the allocation list.

[0069] Step 6: The master satellite sends the task allocation result to each slave satellite. The task allocation result includes: observation target number, priority, target visible time window and other information.

[0070] The master satellite sends a set of assigned point targets to each slave satellite, including the location, priority and other information of the point targets.

[0071] The inter-satellite communication mode within the constellation is microwave high-speed communication, with a rate of up to 1Mbps, which can meet the mission package transmission requirements of the present invention.

[0072] See also Figure 2 As shown, the present invention provides a task allocation strategy, and the scheduling steps are:

[0073] Step 5A: Sort the point targets by priority from high to low, traverse the point targets, record as loop 1, and execute step 5BC in loop 1;

[0074] Step 5B: Calculate the allocatable satellite set that meets the point target observation resource constraint condition. If the number of satellites in the set is 0, do not allocate this target. If the number of satellites in the set is 1, allocate the target to the only allocatable satellite and execute step 5C. If the number of satellites in the set is greater than 1, record the target number in the multi-satellite observation target list.

[0075] Step 5C: Update the allocated satellite energy, storage and other resource margins. If the available resource margins of all satellites in the constellation are 0, the algorithm ends.

[0076] Step 5D: After loop 1 of step 5A is completed, traverse the multi-star observation grid list, which is recorded as loop 2, and execute step 5EF;

[0077] Step 5E: Recalculate the allocatable satellite set that meets the point target observation resource constraint conditions. If the number of satellites in the set is 1, the target is assigned to the only allocatable satellite and step 5C is executed. If the number of satellites in the set is greater than 1, it is assigned to the satellite with the earliest visible time window and step 5C is executed. If the number of satellites in the set is 0, the lowest priority of the point targets assigned to each satellite is compared, and the lowest priority is compared with the current target. If the current target has a high priority, the satellite removes the point target with the lowest priority and puts the current point target into the assigned list and step 5F is executed. If the current target has a low priority, the target is not assigned.

[0078] Step 5F: sort the assigned list of satellites to be inserted into the target according to priority;

[0079] Step 5G: Wait until loop 2 of step 5D ends, and the algorithm ends.

[0080] The present invention also provides a system for autonomous allocation of point target observation tasks based on a satellite constellation. The system for autonomous allocation of point target observation tasks based on a satellite constellation can be implemented by executing the process steps of the method for autonomous allocation of point target observation tasks based on a satellite constellation, that is, those skilled in the art can understand the method for autonomous allocation of point target observation tasks based on a satellite constellation as a preferred implementation of the system for autonomous allocation of point target observation tasks based on a satellite constellation.

[0081] According to the present invention, a point target observation task autonomous allocation system based on a satellite constellation is provided, comprising:

[0082] Module 1: Let the main stars of the constellation gather point target observation tasks;

[0083] The second module: let the constellation master send the point target observation task to each slave satellite;

[0084] The third module: each satellite in the constellation calculates the visible time window and resource consumption of the point target as the calculation result according to the point target observation task;

[0085] The fourth module: each slave satellite sends the calculation results to the master satellite;

[0086] The fifth module: instructs the constellation master to allocate point targets according to the calculation results and the task allocation strategy to obtain the task allocation results;

[0087] Module 6: Instruct the constellation master star to send the task allocation results to each slave star.

[0088] The task allocation strategy for the constellation master is: taking point targets as units and satisfying observation resource requirements as constraints, high-priority point targets are allocated first, and the limited observation resources of the satellite are allocated accordingly.

[0089] When allocating a point target, if the point target is visible to a single satellite and the satellite resources are sufficient, the target is allocated to the visible satellite. If the target can be observed by multiple satellites, the target number is recorded first, and the target is allocated after the targets visible to a single satellite are allocated.

[0090] After ensuring that the targets visible to a single satellite are allocated, the targets visible to multiple satellites are allocated. During the specific allocation, if insufficient resources occur, the allocated low-priority targets are removed and the high-priority targets are placed in the allocation list.

[0091] The task allocation strategy includes:

[0092] The fifth A module: sort the point targets from high to low priority, traverse the point targets, and record it as loop 1. The fifth B module and the fifth C module are executed in loop 1;

[0093] The fifth B module: calculate the allocatable satellite set that meets the point target observation resource constraint conditions. If the number of satellites in the set is 0, the target is not allocated. If the number of satellites in the set is 1, the target is allocated to the only allocatable satellite and the fifth C module is executed. If the number of satellites in the set is greater than 1, the target number is recorded in the multi-satellite observation target list.

[0094] The fifth C module: updates the allocated satellite energy and storage resource margins. If the available resource margins of all satellites in the constellation are 0, the algorithm ends.

[0095] The fifth module D: After the fifth module A loop 1 is completed, the multi-satellite observation grid list is traversed, which is recorded as loop 2, and the fifth module E and the fifth module F are executed;

[0096] The fifth module E: recalculate the allocatable satellite set that meets the point target observation resource constraint conditions. If the number of satellites in the set is 1, the target is assigned to the only allocatable satellite and the fifth module C is executed. If the number of satellites in the set is greater than 1, the target is assigned to the satellite with the earliest visible time window and the fifth module C is executed. If the number of satellites in the set is 0, the lowest priority of the point targets assigned to each satellite is compared, and the lowest priority is compared with the current target. If the current target has a high priority, the satellite removes the point target with the lowest priority and puts the current point target into the assigned list and the fifth module F is executed. If the current target has a low priority, the target is not assigned.

[0097] The fifth F module: sort the assigned list of satellites to be inserted into the target according to priority;

[0098] When the fifth D module cycle 2 ends, the algorithm ends.

[0099] Those skilled in the art know that, in addition to realizing the system and its various devices, modules, and units provided by the present invention in a purely computer-readable program code, it is entirely possible to realize the same functions in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers by logically programming the method steps. Therefore, the system and its various devices, modules, and units provided by the present invention can be considered as a hardware component, and the devices, modules, and units included therein for realizing various functions can also be regarded as structures within the hardware component; the devices, modules, and units for realizing various functions can also be regarded as both software modules for realizing the method and structures within the hardware component.

[0100] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. A method for autonomously allocating point target observation tasks based on a satellite constellation, characterized in that: include: Step 1: Observation mission of the main star of the constellation; Step 2: The constellation master satellite sends the point target observation task to each slave satellite; Step 3: Each satellite in the constellation calculates the visible time window and resource consumption of the point target as the calculation result according to the point target observation task; Step 4: Each slave satellite sends the calculation results to the master satellite; Step 5: The constellation master allocates point targets according to the calculation results and the task allocation strategy to obtain the task allocation result; Step 6: The constellation master star sends the task allocation results to each slave star.

2. The method for autonomously allocating point target observation tasks based on satellite constellations according to claim 1 is characterized in that: The task allocation strategy for the constellation master is: taking point targets as units and satisfying observation resource requirements as constraints, high-priority point targets are allocated first, and the limited observation resources of the satellite are allocated accordingly.

3. The autonomous allocation method for point target observation tasks based on satellite constellations according to claim 2 is characterized in that: When allocating a point target, if the point target is visible to a single satellite and the satellite resources are sufficient, the target is allocated to the visible satellite. If the target can be observed by multiple satellites, the target number is recorded first, and the target is allocated after the targets visible to a single satellite are allocated. After ensuring that the targets visible to a single satellite are allocated, the targets visible to multiple satellites are allocated. During the specific allocation, if insufficient resources occur, the allocated low-priority targets are removed and the high-priority targets are placed in the allocation list.

4. The method for autonomously allocating point target observation tasks based on satellite constellations according to claim 1 is characterized in that: The task allocation strategy includes: Step 5A: Sort the point targets by priority from high to low, traverse the point targets, record as loop 1, and execute step 5B and step 5C in loop 1; Step 5B: Calculate the allocatable satellite set that meets the point target observation resource constraint condition. If the number of satellites in the set is 0, do not allocate this target. If the number of satellites in the set is 1, allocate the target to the only allocatable satellite and execute step 5C. If the number of satellites in the set is greater than 1, record the target number in the multi-satellite observation target list. Step 5C: Update the allocated satellite energy and storage resource margins. If the available resource margins of all satellites in the constellation are 0, the algorithm ends. Step 5D: After loop 1 of step 5A is completed, traverse the multi-star observation grid list, which is recorded as loop 2, and execute step 5E and step 5F; Step 5E: Recalculate the allocatable satellite set that meets the point target observation resource constraint conditions. If the number of satellites in the set is 1, the target is assigned to the only allocatable satellite and step 5C is executed. If the number of satellites in the set is greater than 1, it is assigned to the satellite with the earliest visible time window and step 5C is executed. If the number of satellites in the set is 0, the lowest priority of the point targets assigned to each satellite is compared, and the lowest priority is compared with the current target. If the current target has a high priority, the satellite removes the point target with the lowest priority and puts the current point target into the assigned list and step 5F is executed. If the current target has a low priority, the target is not assigned. Step 5F: sort the assigned list of satellites to be inserted into the target according to priority; When step 5 D loop 2 is completed, the algorithm ends.

5. The method for autonomously allocating point target observation tasks based on satellite constellations according to claim 1 is characterized in that: The constellation master satellite updates the payload and energy status of each individual satellite in the constellation in real time, and allocates tasks based on the real-time status of the individual satellite and the surrounding environment.

6. An autonomous point target observation task allocation system based on a satellite constellation, characterized in that: include: Module 1: Let the main stars of the constellation gather point target observation tasks; The second module: let the constellation master send the point target observation task to each slave satellite; The third module: each satellite in the constellation calculates the visible time window and resource consumption of the point target as the calculation result according to the point target observation task; The fourth module: instruct each slave satellite to send the calculation results to the master satellite; The fifth module: instructs the constellation master to allocate point targets according to the calculation results and the task allocation strategy to obtain the task allocation results; Module 6: Instruct the constellation master star to send the task allocation results to each slave star.

7. The autonomous point target observation task allocation system based on satellite constellation according to claim 6 is characterized in that: The task allocation strategy for the constellation master is: taking point targets as units and satisfying observation resource requirements as constraints, high-priority point targets are allocated first, and the limited observation resources of the satellite are allocated accordingly.

8. The autonomous point target observation task allocation system based on satellite constellation according to claim 7 is characterized in that: When allocating a point target, if the point target is visible to a single satellite and the satellite resources are sufficient, the target is allocated to the visible satellite. If the target can be observed by multiple satellites, the target number is recorded first, and the target is allocated after the targets visible to a single satellite are allocated. After ensuring that the targets visible to a single satellite are allocated, the targets visible to multiple satellites are allocated. During the specific allocation, if insufficient resources occur, the allocated low-priority targets are removed and the high-priority targets are placed in the allocation list.

9. The autonomous point target observation task allocation system based on satellite constellation according to claim 6 is characterized in that: The task allocation strategy includes: The fifth A module: sort the point targets from high to low priority, traverse the point targets, and record it as loop 1. The fifth B module and the fifth C module are executed in loop 1; The fifth B module: calculate the allocatable satellite set that meets the point target observation resource constraint conditions. If the number of satellites in the set is 0, the target is not allocated. If the number of satellites in the set is 1, the target is allocated to the only allocatable satellite and the fifth C module is executed. If the number of satellites in the set is greater than 1, the target number is recorded in the multi-satellite observation target list. The fifth C module: updates the allocated satellite energy and storage resource margins. If the available resource margins of all satellites in the constellation are 0, the algorithm ends. The fifth module D: After the fifth module A loop 1 is completed, the multi-satellite observation grid list is traversed, which is recorded as loop 2, and the fifth module E and the fifth module F are executed; The fifth module E: recalculate the allocatable satellite set that meets the point target observation resource constraint conditions. If the number of satellites in the set is 1, the target is assigned to the only allocatable satellite and the fifth module C is executed. If the number of satellites in the set is greater than 1, the target is assigned to the satellite with the earliest visible time window and the fifth module C is executed. If the number of satellites in the set is 0, the lowest priority of the point targets assigned to each satellite is compared, and the lowest priority is compared with the current target. If the current target has a high priority, the satellite removes the point target with the lowest priority and puts the current point target into the assigned list and the fifth module F is executed. If the current target has a low priority, the target is not assigned. The fifth F module: sort the assigned list of satellites to be inserted into the target according to priority; When the fifth D module cycle 2 ends, the algorithm ends.

10. The autonomous point target observation task allocation system based on satellite constellation according to claim 6 is characterized in that: The constellation master satellite updates the payload and energy status of each individual satellite in the constellation in real time, and allocates tasks based on the real-time status of the individual satellite and the surrounding environment.

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