A method for resource scheduling of a mega constellation for mobile target tracking

Abstract

The application provides a kind of giant constellation resource scheduling method for mobile target tracking, the method is aimed at the numerous nodes of existing giant constellation, the requirement of traditional space-time grid encoding is too strict for storing massive resource information on satellite, and the efficiency of resource scheduling is too low by using centralized algorithm, space-time grid encoding and storage rules are introduced, satellite autonomous inverse solution and coverage calculation model are derived, finally, distributed double-layer bidding task allocation is realized through simulating bidding process based on constellation clustering management architecture, and then the inter-cluster / inter-satellite task execution sequence is obtained. The application can significantly improve the efficiency of resource scheduling and play an important role in the resource management and scheduling of giant constellation. In the future, the application will be widely used in the field of efficient management and resource optimization of large-scale satellite network, and promote the further development of giant constellation technology.

Description

Technical Field

[0001] This invention relates to the field of satellite communication and navigation technology, and in particular to a method for scheduling resources of a giant constellation for tracking moving targets. Background Technology

[0002] Currently, mega-constellations contain a vast number of satellites, and resource scheduling of these satellites using traditional centralized algorithms faces numerous challenges. Traditional spatiotemporal grid coding requires storing massive amounts of resource information on satellites, placing extremely high demands on their storage capacity. In practical applications, each node in a mega-constellation needs to frequently store and update large amounts of resource data, leading to immense storage pressure and a complex and lengthy data update process. Secondly, due to the sheer size of mega-constellations, centralized management and scheduling of resources often results in computational and scheduling delays when dealing with a large number of satellite nodes, thus affecting the overall system's response speed and resource utilization efficiency. Traditional centralized resource scheduling methods struggle to effectively handle the complex and dynamic changes in resource demands within mega-constellations, failing to meet the requirements for efficient and real-time resource scheduling in practical applications. Furthermore, existing centralized resource scheduling methods lack flexibility and autonomy when facing sudden tasks or changes in resource demands, making it difficult to achieve the desired efficiency and effectiveness for engineering applications.

[0003] To overcome the limitations of these traditional methods and improve the resource scheduling efficiency of mega-constellations, new methods and technologies are urgently needed. A distributed resource scheduling approach, combined with advanced spatiotemporal grid coding rules and a constellation cluster management architecture, promises to significantly improve the efficiency and flexibility of resource scheduling, providing a new solution for the efficient management and optimization of mega-constellations.

[0004] Based on the above background analysis, a giant constellation resource scheduling method for moving target tracking is proposed, providing technical support for the autonomous on-orbit mission allocation of my country's constellations. Summary of the Invention

[0005] The purpose of this invention is to solve the problems in the prior art and to propose a giant constellation resource scheduling method for moving target tracking.

[0006] This invention is achieved through the following technical solution: This invention proposes a method for scheduling resources of a giant constellation for tracking moving targets, the method comprising the following steps:

[0007] Step 1: Divide the Earth's space into different levels based on the theory of regional grid partitioning, so as to establish a direct mapping relationship between binary cataloging and latitude and longitude;

[0008] Step 2: Constellation resource preprocessing. To address the issue of constellation resource coverage, resource information is encoded and stored in the on-board database based on the GeoSOT grid, facilitating faster retrieval.

[0009] Step 3: Implement a distributed network model of the constellation based on a clustered management and control architecture to achieve autonomous management and provide model support for the next step of two-level bidding resource scheduling;

[0010] Step 4: Establish constellation auction rules corresponding to the auction value of the auctioned items, and conduct a two-tiered bidding for constellations based on the real-time latitude and longitude of the moving target.

[0011] Furthermore, the derivation process in step one, which involves dividing the Earth's space into different levels based on the theory of regional grid partitioning to facilitate the establishment of a direct mapping relationship between binary cataloging and latitude and longitude, is as follows:

[0012] Unfolding the Earth into a plane, to encompass the entire surface and represent it in binary form, we define the entire Earth as level 0. Expanding the Earth into a 512°×512° plane, we define this as level 1. 128° is level 2, and so on. 1° is a level 9 grid. Then, we expand 1° to 64′, thus expanding it into a 64′×64′ grid. Finally, we expand 1′×1′ to a 64″×64″ grid. This spatial grid is then assigned a unique code, representing the uniqueness of the grid at a specific level.

[0013] Furthermore, the coordinates of a certain location (B,L) are converted into code C. code =c1c2c3c4...c i The process is as follows:

[0014] Step 1: Define n = 0 as representing the Earth as a whole, and when n = 1 and C = c1, follow...

[0015]

[0016] Encode the first line of code, which divides the Earth into four regions for easier location representation. When n > 1, proceed to the next step.

[0017] Step 2: Convert the latitude and longitude coordinates (B, L) to (D) units in degrees, minutes, and seconds. B °M B 'S B .U B ",D L °M L 'S L .U L The expression "") is convenient for the next step of binary conversion;

[0018] Step 3: Set the latitude and longitude (D) of any point on the Earth's surface. B°M B 'S B .U B ",D L °M L 'S L .U L Convert "") to binary code c1d1d2...d7d8m1m2...m6s1s2...s6u1u2...u 11 The representation, and the corresponding conversion relationship are:

[0019]

[0020] According to this formula, D B Process into 8-bit binary numbers M B Process into 6-bit binary numbers S B Process into 6-bit binary numbers Will U B Process into 11-bit binary number For D L °M L 'S L .U L "The same process shall be followed."

[0021] Step 4: Concatenate the processed binary numbers to obtain a 31-bit binary number. as well as Then perform mixed encoding to generate a unique quaternary code C. code =c1c2c3...c i ...c level Where when i = 1, c i Equation 1 indicates that when i ≥ 2, the following equation applies;

[0022]

[0023] Step 5: Assume the time frame of the task scenario starts from T. start To T end The time step is Δt. The time period is divided according to the time step, and each time period t is... i Discrete time coding This encoding is represented as a 64-bit binary code. This time code is combined with the spatial code of this time period to form... Spatiotemporal coding in binary form.

[0024] Furthermore, in step two, for the tasks of constellation remote sensing imaging for Earth surveillance and near-Earth moving target tracking, the method for calculating the Earth coverage of the satellite observation field of view is to use the ray method to determine whether the target is within the latitude and longitude of the coverage area obtained by inverse decoding based on the latitude and longitude of the coverage area obtained by the satellite push-broom. This ray method is used to determine whether a point is inside or on the boundary of a polygon. Its logic is to emit a ray from the target point along the positive x-axis or any ray, and count the number of intersections between this ray and each side of the polygon. If the number of intersections is odd, the point is inside the polygon; if it is even, the point is outside the polygon; if the point happens to fall on the boundary of the polygon, it is also considered to be inside.

[0025] Furthermore, in step two, during the satellite air tracking determination, a method is adopted to determine whether the angle between the direction of the line connecting the satellite targets and the projection of the satellite's flight direction onto the plane where the line is located is within the satellite's reachable field of view. Here, the reachable field of view is the sum of the satellite's half field of view angle and the elevation angle of the satellite tracking turntable.

[0026] Furthermore, in step three, the constellation cluster management architecture divides the constellation into several clusters according to rules. Each cluster contains a cluster task management unit, a cluster resource management unit, and a task unit responsible for executing specific tasks.

[0027] Furthermore, in step four, the description of the task auction is that the value of the task to the task management node conducting the auction is V. bid Auctions with independent value are conducted across multiple clusters of a giant constellation, represented as a set.

[0028] A auction ={N,(V i ,F i ) i∈N ,p,C} (4)

[0029] Where N = {1, 2, ..., n} is the set of clusters participating in the auction, and V i Let F represent the set of possible private values ​​for the i-th cluster on the task, with probability distribution function F. i (V i In this context, the private values ​​between domains are independent of each other, and each cluster participating in the auction is determined based on its private value V. i Submitting a bid i Cluster i that wins the mission win Based on the executable sequence p provided, the transaction price is C;

[0030] During resource scheduling, this auction mechanism is applied as follows: the task management node acts as the auctioneer, and the task... As an auction item, the initial price of the task is determined by its value tag. The determination is whether observation of the target can be achieved; the first round of bidding takes place among the clusters within the constellation, vying for the right to execute the mission; the set of clusters participating in the bidding is denoted as . Cluster A k The personal value of the task is That is, it can continuously observe the target for a certain period of time; the set of quotes corresponding to the imaging strategy provided by the cluster is represented as

[0031]

[0032] in, For cluster A k The corresponding bid value is defined as the system value of the strategy during resource scheduling. Bidding rules are established so that the bidder capable of achieving the longest observation time wins, with the final price paid in full. The currently winning cluster will provide the next strategy and enter the next level of bidding, where inter-satellite bidding takes place within the cluster to determine the longest observation time for a single satellite. This yields the specific execution sequence for the satellites within the cluster. If a cluster obtained in a single round of bidding cannot achieve the desired mission... The entire process of execution expands to multi-round bidding. The bids provided by the task management nodes organizing the bidding will be based on the transaction price of the previous round. That is, except for the first round of bidding, the bids for the value of the bidding tasks in subsequent rounds will be based on whether the longest observation can be achieved within the remaining time of the task. In the finite number of auction rounds k bid Under these constraints, the final auction transaction was completed.

[0033] Furthermore, in step four, at the start of the auction, the task... The tasks are prioritized and auctioned first, with higher priority given to earlier tasks. Once a task has been auctioned, the satellites in the corresponding time cluster that performed that task will not participate in subsequent task auctions, but will only bid during their idle time periods.

[0034] The beneficial effects of this invention are:

[0035] This invention proposes a resource scheduling method for mega-constellations oriented towards moving target tracking. Addressing the challenges of existing mega-constellations with their large number of nodes, the stringent requirements of storing massive resource information on-board using traditional spatiotemporal grid coding, and the low efficiency of centralized algorithms for resource scheduling, this method introduces spatiotemporal grid coding and storage rules. The method then autonomously decomposes and derives a coverage computation model on-board, and finally, based on a constellation clustering management architecture, implements distributed two-layer bidding task allocation through a simulated bidding process, thereby obtaining inter-cluster / inter-satellite task execution sequences.

[0036] This invention effectively improves the efficiency of resource scheduling for mega-constellations. By optimizing spatiotemporal grid coding and storage rules, it significantly reduces on-board storage requirements and enhances the flexibility and autonomy of constellation resource scheduling. The distributed two-layer bidding mechanism fully utilizes inter-cluster and inter-satellite cooperation capabilities, optimizing the timeliness and accuracy of task execution. Compared to traditional centralized algorithms, this invention significantly improves resource scheduling efficiency and plays a crucial role in the resource management and scheduling of mega-constellations. In the future, this invention will be widely applied to the efficient management and resource optimization of large-scale satellite networks, promoting the further development of mega-constellation technology. Attached Figure Description

[0037] Figure 1 This is a flowchart of the giant constellation two-layer auction algorithm described in this invention.

[0038] Figure 2 This is a schematic diagram of the satellite's flight direction and the range of its Earth observation area as described in this invention.

[0039] Figure 3 This is a schematic diagram of the four vertices of the satellite Earth observation area described in this invention.

[0040] Figure 4 This is a schematic diagram of the satellite air coverage calculation method described in this invention. Detailed Implementation

[0041] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0042] To address the need for space-based remote sensing constellations to track moving targets, a mission planning method based on spatiotemporal grid coding was designed. This method has the advantage of faster access to real-time constellation status via database access when planning large-scale autonomous constellation missions, and its distributed computing through a cluster management framework outperforms traditional centralized algorithms in mission planning efficiency. It is applicable to mission allocation in various multi-satellite networking systems. Detailed technical solutions are as follows:

[0043] See Figures 1-4 This invention proposes a method for scheduling resources of a giant constellation for tracking moving targets, the method comprising the following steps:

[0044] Step 1: Divide the Earth's space into different levels based on the theory of regional grid partitioning, so as to establish a direct mapping relationship between binary cataloging and latitude and longitude;

[0045] Step 2: Constellation resource preprocessing. To address the issue of constellation resource coverage, resource information is encoded and stored in the on-board database based on the GeoSOT grid, facilitating faster retrieval.

[0046] Step 3: Implement a distributed network model of the constellation based on a clustered management and control architecture to achieve autonomous management and provide model support for the next step of two-level bidding resource scheduling;

[0047] Step 4: Establish constellation auction rules corresponding to the auction value of the auctioned items, and conduct a two-tiered bidding for constellations based on the real-time latitude and longitude of the moving target.

[0048] Step one involves dividing the Earth's space into different levels based on the theory of regional grid partitioning, in order to establish a direct mapping relationship between binary cataloging and latitude and longitude. The derivation process is as follows:

[0049] Unfolding the Earth into a plane, to encompass the entire surface and represent it in binary form, we define the entire Earth as level 0. Expanding the Earth into a 512°×512° plane, we define this as level 1. 128° is level 2, and so on. 1° is a level 9 grid. Then, we expand 1° to 64′, thus expanding it into a 64′×64′ grid. Finally, we expand 1′×1′ to a 64″×64″ grid. This spatial grid is then assigned a unique code, representing the uniqueness of the grid at a specific level.

[0050] Convert the coordinates of a location (B, L) into code C. code =c1c2c3c4...c i The process is as follows:

[0051] Step 1: Define n = 0 as representing the Earth as a whole, and when n = 1 and C = c1, follow...

[0052]

[0053] Encode the first line of code, which divides the Earth into four regions for easier location representation. When n > 1, proceed to the next step.

[0054] Step 2: Convert the latitude and longitude coordinates (B, L) to (D) units in degrees, minutes, and seconds. B °M B 'S B .U B ",D L °M L 'S L .U L The expression "") is convenient for the next step of binary conversion;

[0055] Step 3: Set the latitude and longitude (D) of any point on the Earth's surface. B °MB 'S B .U B ",D L °M L 'S L .U L Convert "") to binary code c1d1d2...d7d8m1m2...m6s1s2...s6u1u2...u 11 The representation, and the corresponding conversion relationship are:

[0056]

[0057] According to this formula, D B Process into 8-bit binary numbers M B Process into 6-bit binary numbers S B Process into 6-bit binary numbers Will U B Process into 11-bit binary number For D L °M L 'S L .U L "The same process shall be followed."

[0058] Step 4: Concatenate the processed binary numbers to obtain a 31-bit binary number. as well as Then perform mixed encoding to generate a unique quaternary code C. code =c1c2c3...c i ...c level Where when i = 1, c i Equation 1 indicates that when i ≥ 2, the following equation applies;

[0059]

[0060] Step 5: Assume the time frame of the task scenario starts from T. start To T end The time step is Δt. The time period is divided according to the time step, and each time period t is... i Discrete time coding This encoding is represented as a 64-bit binary code. This time code is combined with the spatial code of this time period to form... Spatiotemporal coding in binary form.

[0061] In step two, for the tasks of constellation remote sensing imaging for Earth surveillance and near-Earth moving target tracking, the method for calculating the Earth coverage of the satellite observation field of view is to use the ray method to determine whether the target is within the latitude and longitude of the coverage area obtained by the inverse decoding of the encoding based on the latitude and longitude of the coverage area obtained by the satellite push-broom. The ray method is used to determine whether a point is inside or on the boundary of a polygon. Its logic is to emit a ray from the target point along the positive x-axis or any ray, and count the number of intersections between this ray and each side of the polygon. If the number of intersections is odd, the point is inside the polygon; if it is even, the point is outside the polygon; if the point happens to fall on the boundary of the polygon, it is also considered to be inside.

[0062] In step two, during the satellite air tracking determination, since the field of view of the observed target at the satellite altitude includes both the Earth and space, and it is difficult to map the target at the satellite altitude onto a sphere for ray-based determination, the method of determining whether the angle between the direction of the line connecting the satellite targets and the projection of the satellite's flight direction onto the plane of the line is within the satellite's reachable field of view is chosen. Here, the reachable field of view is the sum of the satellite's half field of view angle and the elevation angle of the satellite tracking turntable.

[0063] In step three, the constellation cluster management architecture divides the constellation into several clusters according to rules. Each cluster contains a cluster task management unit, a cluster resource management unit, and a task unit responsible for executing specific tasks.

[0064] In step four, the auction activity is described as having the value of the item to the auctioneer organizing the auction as V. bid A sealed-bid auction with independent private value, open to multiple bidders, characterized as a collection

[0065] A auction ={N,(V i ,F i ) i∈N ,p,C} (4)

[0066] Where N = {1, 2, ..., n} is the set of clusters participating in the auction, and V i Let F represent the set of possible private values ​​for the i-th cluster on the task, with probability distribution function F. i (V i The private values ​​of clusters are independent of each other, and each cluster participating in the auction is valued according to its private value V. i Submitting a bid i The management cluster that wins the task win Based on the executable sequence p provided, the transaction price is C;

[0067] During resource scheduling, this auction mechanism is applied as follows: the task management node acts as the auctioneer, and the task... As an auction item, the initial price of the task is determined by its value tag. The determination is whether observation of the target can be achieved; the first round of bidding takes place among the clusters within the constellation, vying for the right to execute the mission; the set of clusters participating in the bidding is denoted as . Cluster A k The personal value of the task is That is, it can continuously observe the target for a certain period of time; the set of quotes corresponding to the imaging strategy provided by the cluster is represented as

[0068]

[0069] in, For cluster A k The corresponding bid value is defined as the system value of the strategy during resource scheduling. Bidding rules are established so that the bidder capable of achieving the longest observation time wins, with the final price paid in full. The currently winning cluster will provide the next strategy and enter the next level of bidding, where inter-satellite bidding takes place within the cluster to determine the longest observation time for a single satellite. This yields the specific execution sequence for the satellites within the cluster. If a cluster obtained in a single round of bidding cannot achieve the desired mission... The entire process of execution expands to multi-round bidding. The bids provided by the task management nodes organizing the bidding will be based on the transaction price of the previous round. That is, except for the first round of bidding, the bids for the value of the bidding tasks in subsequent rounds will be based on whether the longest observation can be achieved within the remaining time of the task. In the finite number of auction rounds k bid Under these constraints, the final auction transaction was completed.

[0070] In step four, to resolve task conflicts through the rational allocation of constellation resources, at the start of the auction, the tasks... The tasks are prioritized and auctioned first, with higher priority given to earlier tasks. Once a task has been auctioned, the satellites in the corresponding time cluster that performed that task will not participate in subsequent task auctions, but will only bid during their idle time periods.

[0071] Example

[0072] This invention proposes a clustered constellation resource scheduling method for moving target tracking, the method comprising the following steps:

[0073] Step 1: Divide the Earth's space into different levels based on the theory of regional grid partitioning, so as to establish a direct mapping relationship between binary cataloging and latitude and longitude.

[0074] Step Two: Perform constellation resource preprocessing. Addressing the constellation resource coverage issue, the latitude and longitude of each satellite, along with the four vertices of the ground area it covers, are encoded and stored in the onboard database using a spatiotemporal grid for faster retrieval. The satellite observation field of view coverage calculation method is as follows:

[0075] For Earth surveillance and near-ground moving target tracking, the execution unit satellite possesses strong maneuverability and carries a visible light camera payload; its visible area is represented as...

[0076]

[0077] Where α and β represent the range of satellite oscillation along the flight direction of the satellite node and the vertical direction, respectively, and the satellite flight direction and the range of the Earth observation area are as follows: Figure 2 As shown. P represents the satellite point, Q represents the satellite's projection point on Earth, and O represents the Earth's center. The maximum side angle of the satellite perpendicular to its flight direction is... and It can be obtained through the following formula

[0078]

[0079] The calculation method is the same as above, to obtain and These coordinates are located in the flight direction and opposite direction. This yields the latitude and longitude of four points A, B, C, and D, which are the midpoints of the four sides of the coverage area. From these, the latitude and longitude coordinates of the vertices P1, P2, P3, and P4 of the coverage area can be obtained. The latitude and longitude information of the four vertices of the rectangle covered by the satellite at each moment is converted into a coded form and stored in the onboard database, such as... Figure 3 As shown.

[0080] In air-to-ground tracking missions, the constellation's mission execution unit is equipped with an air-to-ground precision tracking camera, whose field of view is the sum of the satellite's half-field of view and the elevation angle of the tracking turntable. Methods for calculating air coverage, such as Figure 4 As shown.

[0081] Establish a coordinate system based on the current satellite position. The latitude and longitude of the satellite position O are known at this point. Transform to the current coordinate system based on the latitude and longitude, and set the origin position vector. The target position vector is Satellite flight direction vector The direction is represented by the line connecting the current latitude and longitude at the next possible moment. (Vector of the line connecting the satellite and the target) Represented as

[0082]

[0083] Calculate the line vector Projection of the mission onto the XY plane of the satellite's flight direction

[0084]

[0085] Calculate the line vector and The angle between them is first calculated by the vector of the connecting line. model

[0086]

[0087] Calculate the vector projection of the connection line model

[0088]

[0089] Calculate the cosine value of the included angle using the modulus.

[0090]

[0091] Find the included angle α

[0092]

[0093] By comparing α with the sum of the satellite's half-field of view and the tracking turntable's pitch angle... like Within the coverage area, satellites can perform observation and tracking; otherwise, they cannot. This completes the calculation process for air coverage.

[0094] Step 3: Implement the distributed network model of the constellation based on the clustered management architecture to achieve autonomous management. The clustered architecture is known and is designed according to the constellation configuration.

[0095] Step 4: When the constellation is launched into orbit and begins its work, the unified mission management node issues target information to the mission management nodes of each cluster. The mission management nodes determine whether the mission is for Earth monitoring and tracking or for air tracking based on its nature, and then transfer the information to the resource management node. The resource management node uses the database encoding information stored on the satellite to decipher the four vertices of the Earth coverage area or the satellite's latitude and longitude information at each moment according to the encoding rules. By auctioning the real-time latitude and longitude of the target, the execution sequence of inter-cluster / inter-satellite missions is obtained, and resource scheduling is achieved.

[0096] This invention addresses the challenges of storing massive amounts of resource information on-board using traditional spatiotemporal grid coding, which is too demanding due to the large number of nodes in existing mega-constellations, and the low efficiency of centralized algorithms for resource scheduling. It introduces spatiotemporal grid coding rules, requiring only the storage of specific information codes. These codes are then autonomously decoded on-board to derive a coverage calculation model. Based on a constellation clustering architecture, a distributed two-layer auction is used to obtain the inter-cluster / inter-satellite task execution sequence. This effectively improves the resource scheduling efficiency of mega-constellations.

[0097] Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Anyone skilled in the art can make various modifications and alterations without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention should be determined by the claims.

Claims

1. A method for scheduling resources in a giant constellation for tracking moving targets, characterized in that, The method includes the following steps: Step 1: Divide the Earth's space into different levels based on the theory of regional grid partitioning, so as to establish a direct mapping relationship between binary cataloging and latitude and longitude; Step 2: Constellation resource preprocessing. To address the issue of constellation resource coverage, resource information is encoded and stored in the on-board database based on the GeoSOT grid, facilitating faster retrieval. Step 3: Implement a distributed network model of the constellation based on a clustered management and control architecture to achieve autonomous management and provide model support for the next step of two-level bidding resource scheduling; Step 4: Establish constellation auction rules corresponding to the auction value of the auctioned items, and conduct two-level bidding for constellations based on the real-time latitude and longitude of the moving target; In step two, the latitude and longitude of a single satellite and the four vertices of the ground area it covers are encoded and stored in the on-board database for faster retrieval. In step two, for the tasks of constellation remote sensing imaging for Earth surveillance and near-Earth moving target tracking, the method for calculating the Earth coverage of the satellite observation field of view is to use the ray method to determine whether the target is within the latitude and longitude of the coverage area obtained by inverse decoding based on the latitude and longitude of the coverage area obtained by satellite push-broom scanning. The ray method is used to determine whether a point is inside or on the boundary of a polygon. Its logic is to emit a ray from the target point along the positive x-axis or any ray, and count the number of intersections between this ray and each side of the polygon. If the number of intersections is odd, the point is inside the polygon; if it is even, the point is outside the polygon; if the point happens to fall on the boundary of the polygon, it is also considered to be inside. In step two, during the satellite air tracking determination, the method used is to determine whether the angle between the direction of the line connecting the satellite targets and the projection of the satellite's flight direction onto the plane containing the line is within the satellite's reachable field of view. Here, the reachable field of view is the sum of the satellite's half field of view angle and the elevation angle of the satellite tracking turntable. Establish a coordinate system based on the current satellite position; the current satellite position Given the latitude and longitude, transform the coordinates to the current coordinate system and set the origin position vector. The target position vector is Satellite flight direction vector The vector of the line connecting the satellite and the target is represented by the direction of the line connecting the latitude and longitude of the next time step with the current latitude and longitude. Represented as Calculate the line vector Projection of the mission onto the XY plane of the satellite's flight direction Calculate the line vector and The angle between them is first calculated by the vector of the connecting line. model Calculate the vector projection of the connection line model Calculate the included angle using the modulus cosine value Find the included angle By comparison The sum of the satellite's half field of view and the pitch angle of the tracking turntable ,like Within the coverage area, satellites can perform observation and tracking; otherwise, they cannot.

2. The method according to claim 1, characterized in that: Step one involves dividing the Earth's space into different levels based on the theory of regional grid partitioning, in order to establish a direct mapping relationship between binary cataloging and latitude and longitude. The derivation process is as follows: Unfolding the Earth into a plane, to encompass the entire surface and represent it in binary form, we define the entire Earth's extent as level 0, expanding the Earth as... The plane, defined as level 1, Level 2, and so on. For a level 9 grid, again Expand to This expands to The grid, then Expand to A grid is a spatially divided grid that is empowered and represented as a unique code for the grid at a specific level.

3. The method according to claim 2, characterized in that: coordinates of a certain position Convert to encoding The process is as follows: Step 1: Set the current , representing the Earth as a whole, when At that time, according to (1) Encoding is performed, and this first line of code divides the Earth into four regions, making it easier to represent location. Proceed to the next step; Step 2: Transfer latitude and longitude coordinates Convert to units of degrees, minutes, and seconds. This format facilitates the next step of binary conversion; Step 3: Set the latitude and longitude of any point on the Earth's surface. Convert to binary encoding The representation, and the corresponding conversion relationship are: (2) According to this formula, Process into 8-bit binary numbers ,Will Process into 6-bit binary numbers ,Will Process into 6-bit binary numbers ,Will Process into 11-bit binary number ,for The same procedure shall be followed. Step 4: Concatenate the processed binary numbers to obtain a 31-bit binary number. as well as Then, perform mixed encoding to generate a unique quaternary code. , among which when , Equation 1 indicates that when When, it is expressed by the following formula; (3) Step 5: Assume the time frame of the task scenario starts from... arrive The time step is The time period is divided according to the time step, and each time period is... Discrete time coding This encoding is represented as a 64-bit binary code. This time code is combined with the spatial code of this time period to form a sequence using < , Spatiotemporal coding in binary form.

4. The method according to claim 1, characterized in that: In step three, the constellation cluster management architecture divides the constellation into several clusters according to rules. Each cluster contains a cluster task management unit, a cluster resource management unit, and a task unit responsible for executing specific tasks.

5. The method according to claim 4, characterized in that: In step four, the description of the task auction is that the value of the task to the task management node conducting the auction is... Auctions with independent value are conducted across multiple clusters of a giant constellation, represented as a set. (4) in For the set of clusters participating in the auction, Indicates the first The set of possible private values ​​of each cluster for a task, whose probability distribution function is: Private values ​​are independent of each other across domains, and each cluster participating in the auction does so based on its private value. Submitting a tender , winning the mission cluster Based on the executable sequence it provides The decision was made, and the transaction price was... ; During resource scheduling, this auction mechanism is applied as follows: the task management node acts as the auctioneer, and the task... As an auction item, the initial price of the task is determined by its value tag. The determination is whether observation of the target can be achieved; the first round of bidding takes place among the clusters within the constellation, vying for the right to execute the mission; the set of clusters participating in the bidding is denoted as . , among which cluster The personal value of the task is This means that it can continuously observe the target for a certain period of time; the set of quotes corresponding to the imaging strategy provided by the cluster is represented as (5) in, For clusters The corresponding bid value is defined as the system value of the strategy during resource scheduling. Bidding rules are established so that the bidder capable of achieving the longest observation time wins, with the final price paid in full. The currently winning cluster will provide the next strategy and enter the next level of bidding, where inter-satellite bidding takes place within the cluster to determine the longest observation time for a single satellite, obtaining the specific execution sequence of satellites within the cluster. If the cluster obtained in a single round of bidding cannot achieve the task... The entire process of execution expands to multi-round bidding. The bids provided by the task management nodes organizing the bidding will be based on the transaction price of the previous round. That is, except for the first round of bidding, the bids for the value of the bidding tasks in subsequent rounds will be based on whether the longest observation can be achieved within the remaining time of the task. In finite auction rounds... Under these constraints, the final auction transaction was completed.

6. The method according to claim 5, characterized in that: In step four, at the start of the auction, the task will be... The tasks are prioritized and auctioned first, with higher priority given to earlier tasks. Once a task has been auctioned, the satellites in the corresponding time cluster that performed that task will not participate in subsequent task auctions, but will only bid during their idle time periods.

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