Multi-satellite cooperative task management system and method

Abstract

The application discloses a multi-satellite cooperative task management system and method, which comprises a task load satellite task management system and a relay satellite task management system. The task load satellite task management system comprises a network communication unit, a posture and orbit control unit, a satellite service management unit, a task management unit and a task load unit. The relay satellite task management system comprises a task management unit and a plurality of network communication units. Each network communication unit establishes a communication link with one task load satellite, and one of the network communication units also establishes a communication link with a ground station, so that the communication relay between the plurality of task load satellites and the ground station and the task data interaction are sequentially realized. The application improves the autonomy of the multi-satellite cooperative task, reduces the frequency of interaction between the satellite and the ground station compared with the traditional ground remote control or program control mode, reduces the ground measurement and control pressure, can realize the observation of multiple interested targets in one orbit, and improves the observation timeliness.

Description

Technical Field

[0001] This invention belongs to the field of satellite technology, and in particular to a multi-satellite collaborative mission management system and method. Background Technology

[0002] Multi-satellite collaboration has become the norm in satellite applications. Traditionally, microsatellites are managed by satellite management units. Mission instructions or instruction sequences are pre-defined on the ground through ground remote control or programmable control. These instructions are then transmitted to different satellites via the satellite-to-ground telemetry and control link. Each satellite, as the execution end, independently completes its mission according to the transmitted instructions. Mission collaboration between multiple satellites is ensured by the pre-arrangement of ground instructions.

[0003] As mission complexity increases, the requirements for inter-satellite collaboration become more demanding. The pre-arranged ground command collaboration method is only suitable for simple multi-satellite collaborative missions, and the aforementioned methods are insufficient. Summary of the Invention

[0004] To address the problems existing in the prior art, the present invention aims to provide a multi-satellite collaborative mission management system and method, which realizes on-orbit autonomous collaboration of multi-satellite missions by synchronizing the status of multiple satellites in real time in orbit and autonomously completing sensing processing, mission planning and satellite control in orbit according to mission requirements.

[0005] To achieve the above objectives, the present invention provides a multi-satellite collaborative mission management system, comprising a mission payload satellite mission management system and a relay satellite mission management system. The mission payload satellite mission management system is used to manage the mission payload satellite. It includes a network communication unit, an attitude and orbit control unit, a satellite service management unit, a mission management unit, a mission payload unit, and other onboard units. The relay satellite mission management system is used for the management of relay satellites. It includes a mission management unit and several network communication units. Each network communication unit establishes a communication link with a mission payload satellite, and one of the network communication units also establishes a communication link with a ground station, thereby realizing the orderly relay of communication between multiple mission payload satellites and ground stations, as well as mission data exchange.

[0006] Furthermore, the network communication unit establishes communication links between satellites and between satellites and the ground. A dedicated interface is designed between the network communication unit and the mission management unit to send the received status and mission data of other satellites and ground-based data to the mission management unit, while simultaneously sending the status and mission data of the satellite itself to other satellites or downlinking it to the ground.

[0007] Furthermore, the dedicated interface is an RS422 interface.

[0008] Furthermore, the mission management unit in the mission payload satellite mission management system is a Type I mission management unit, and the mission management unit in the relay satellite mission management system is a Type II mission management unit. The intelligent computing performance of the Type I mission management unit is superior to that of the Type II mission management unit.

[0009] Furthermore, the Type II task management unit has one more RS422 interface that connects to the network communication unit than the Type I task management unit.

[0010] Furthermore, the mission payload satellites include SAR imaging satellites and optical imaging satellites, each equipped with a SAR imaging satellite mission management system and an optical imaging satellite mission management system, respectively.

[0011] Furthermore, the SAR imaging satellite mission management system includes a network communication unit, an attitude and orbit control unit, a satellite service management unit, a mission management unit, a SAR imaging payload unit, a telemetry, tracking and command (TT&C) data transmission unit, and an energy management unit; the optical imaging satellite mission management system includes a network communication unit, an attitude and orbit control unit, a satellite service management unit, a mission management unit, an optical camera, a TT&C data transmission unit, and an energy management unit.

[0012] The present invention also provides a multi-satellite collaborative mission management method based on the above-mentioned multi-satellite collaborative mission management system, the method comprising mission planning for SAR imaging satellites and mission planning for optical imaging satellites.

[0013] Furthermore, in the SAR imaging satellite, the imaging data of the SAR imaging payload unit is sent to the mission management unit through the SRIO dedicated interface.

[0014] Furthermore, in the optical imaging satellite, the imaging data from the optical camera is sent to the mission management unit via a dedicated LVDS interface.

[0015] This invention enhances the autonomy of multi-satellite collaborative missions. Compared with traditional ground remote control or program control methods, it reduces the frequency of interaction between satellites and ground stations, alleviates the pressure on ground telemetry and control, and supports the autonomous repetition of intermediate steps on the satellite, enabling the observation of multiple targets of interest within one orbit, thus improving observation timeliness. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the satellite mission management system architecture for mission payloads. Figure 2 This is a schematic diagram of a multi-satellite collaborative Earth observation mission. Figure 3 A schematic diagram of the SAR imaging satellite mission management system; Figure 4 This is a schematic diagram of the optical imaging satellite mission management system. Figure 5 This is a schematic diagram of the relay satellite mission management system architecture; Figure 6 This is a schematic diagram of the collaborative observation mission process; Figure 7 This is a diagram illustrating the behavior tree structure of the task management unit. Figure 8 This is a schematic diagram of the behavior tree structure of the perception processing module; Figure 9 A schematic diagram of the behavior tree structure for the task planning module; Figure 10 A diagram illustrating the behavior tree structure for controlling the execution module. Detailed Implementation

[0017] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. 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.

[0018] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0019] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0020] The following combination Figures 1-10 Specific embodiments of the present invention will be described in detail below. It should be understood that the specific embodiments described herein are for illustrative and explanatory purposes only and are not intended to limit the present invention.

[0021] The present invention discloses a multi-satellite collaborative mission management system, comprising a mission payload satellite mission management system and a relay satellite mission management system. The mission payload satellite mission management system is used on the mission payload satellite, which is equipped with a mission payload unit. The relay satellite mission management system is used on the relay satellite, which has no mission payload and therefore no related mission payload unit.

[0022] like Figure 1 The diagram shows the architecture of the satellite mission management system for the payload. The satellite mission management system for the payload consists of a network communication unit, an attitude and orbit control unit, a satellite service management unit, a mission management unit, a payload unit, and other onboard units.

[0023] Among them, the satellite management unit and attitude and orbit control unit have the same functions as traditional satellites, and are used to manage and control the satellite platform and payload; other on-board units are necessary units to support satellite operation, such as the telemetry and control data transmission unit for telemetry and remote control of the satellite and transmitting satellite data to the ground, and the energy management unit for energy management of the satellite.

[0024] The mission payload unit includes a sensing payload unit and an action payload unit, which are configured according to mission requirements. For example, it can be configured as a SAR imaging payload unit or an optical camera.

[0025] The relay satellite mission management system is used for the management of relay satellites. It includes a mission management unit and several network communication units. Each network communication unit establishes a communication link with a mission payload satellite, and one of the network communication units also establishes a communication link with a ground station, thereby realizing the orderly relay of communication between multiple mission payload satellites and ground stations, as well as mission data exchange.

[0026] The relay satellite mission management system includes network communication unit one, attitude and orbit control unit, satellite service management unit, mission management unit, telemetry, tracking and command data transmission unit, energy management unit, and network communication unit two.

[0027] Network communication unit: Establish communication links between satellites and between satellites and the ground to synchronize satellite attitude, orbit and other status data and required mission data, and also to exchange data with the ground.

[0028] A dedicated interface is designed between the network communication unit and the mission management unit to send the received status and mission data of other satellites and ground-based data to the mission management unit, while simultaneously sending the status and mission data of this satellite to other satellites or downlinking it to the ground.

[0029] Attitude control unit: The attitude and orbit control of the satellite is achieved. A dedicated interface is designed between the attitude and orbit control unit and the mission management unit to send and update the current attitude and orbit control status of the satellite to the mission management unit in real time, receive attitude and orbit control commands sent by the mission management unit, and control the satellite's attitude and orbit in real time according to mission requirements.

[0030] Star Service Management Unit: As the master node of the on-board bus, it collects the status and telemetry data of all working units and payloads on the satellite through the on-board bus, and manages and controls other units and payloads on the satellite. A dedicated interface is designed between the satellite service management unit and the mission management unit. The satellite service management unit acts as a bridge for the mission management unit to control the satellite, receives mission instructions sent by the mission management unit, and issues them to other units and payloads for execution.

[0031] A dedicated interface is designed between the satellite management unit and the attitude and orbit control unit to send control commands and data with high real-time requirements to the attitude and orbit control unit, which facilitates the scheduling of the attitude and orbit control unit to achieve complex satellite attitude and orbit control tasks.

[0032] Task Management Unit: It is a high-performance intelligent computer with strong computing power, running integrated processing software programs for sensing, planning, and control, and realizing task collaboration among multiple satellites.

[0033] ①Sensing and processing function: Based on the type of sensing payload carried by the satellite, it completes intelligent processing of sensing data and generates environmental or target information required for the mission; ② Mission planning function: Based on mission requirements, it utilizes the real-time on-orbit status of this satellite and other satellites, as well as sensing information, to carry out mission planning, generate mission instructions, and coordinate the actions and timing of mission execution among satellites; ③ Satellite control function: Based on the mission planning results, commands are sent to the attitude and orbit control unit or the satellite management unit through a dedicated interface to control the satellite platform and payload.

[0034] Within the mission management unit, the satellite mission flow is managed based on a behavior tree structure, and three mission modules run simultaneously: a perception processing module, a mission planning module, and a control execution module. Its behavior tree structure is as follows: Figure 7 As shown.

[0035] The perception processing module is responsible for intelligently processing the data acquired by the perception payload and extracting target information or environmental features; the mission planning module generates specific mission execution plans based on the mission requirements and the status of each satellite; and the control execution module issues control commands to execution units such as the satellite management unit, attitude and orbit control unit, and mission payload unit according to the mission planning results, to complete specific operations such as satellite attitude adjustment and payload start and stop, and realize effective control of the satellite.

[0036] The perception processing module consists of multiple action nodes, including data preparation, data processing, result judgment, and result transmission. Its behavior tree structure is as follows: Figure 8 As shown, each node is executed sequentially.

[0037] 1. Data Preparation Node: Before the task flow formally enters image processing, this node checks whether the imaging payload unit has completed its current observation task and confirms that the raw image data has been successfully transmitted to the task management unit via the high-speed interface. If the data is not yet ready, this node enters a waiting state until the data is ready or a timeout occurs, thus ensuring that subsequent processing is performed on the basis of data integrity.

[0038] 2. Data Processing Node: After the data preparation node is completed and the data is ready, the task management unit automatically triggers the execution of the data processing node. This node invokes intelligent image processing algorithms to perform operations such as target extraction, image enhancement, feature extraction, or target recognition on the original image. This node typically has a long execution cycle, consuming significant computing resources. It also requires monitoring the running status, error flags, and intermediate results during image processing to ensure the consistency and reliability of the process. Upon completion, it outputs structured perception results.

[0039] 3. Result Judgment Node: After the data processing node finishes running, this node quickly judges the processing results to determine whether the target of interest or the feature event that meets the triggering conditions has been identified. This node typically makes decisions based on threshold comparison, confidence assessment, or rule-based logic, and returns a Boolean result (e.g., successful detection / no target found).

[0040] 4. Result Transmission Node: In this node, the task management unit encapsulates the sensing results (such as target location, confidence level, image slices, etc.) into a predefined data packet and sends it to the network communication unit via a dedicated RS422 interface, completing the data return to the relay satellite. If the current communication channel has not yet been established or the communication window is not open, this node will enter a waiting state until the transmission conditions are met before executing data transmission, ensuring data integrity and link validity.

[0041] The task planning module consists of multiple action nodes, including task parsing, status evaluation, instruction generation, and instruction issuance. Its behavior tree structure is as follows: Figure 9 As shown, each node is executed sequentially.

[0042] 1. Mission Parsing Node: During the mission initiation phase, the relay satellite mission management unit receives and parses observation mission requests from ground stations, extracting key parameters including target area, observation time window, and payload requirements, and storing them in the mission context for subsequent planning. This node is executed only once in the current mission flow and will not be triggered again after execution, ensuring the consistency and uniqueness of the mission source information.

[0043] 2. Status Assessment Node: After completing mission analysis, the mission management unit needs to perform a feasibility assessment based on the latest status of multiple satellites. This node is responsible for acquiring the on-orbit status information of SAR and optical satellites, including key indicators such as position, attitude, and resource availability. If the required status information has not been updated or the communication link is temporarily unavailable, it enters a short-term waiting state until status synchronization is completed or data arrives, thereby ensuring the accuracy and real-time performance of subsequent mission planning.

[0044] 3. Command Generation Node: This node initiates the task planning method after all input conditions are met. Based on task requirements and the on-orbit status of multiple satellites, it comprehensively generates a control command scheme including task allocation, operational parameters, and scheduling timing. The planning process may involve sub-processes such as multi-target matching, window coordination, and priority sorting, resulting in a relatively large computational load. If abnormal situations such as resource constraints, input errors, or status failures occur during execution, the node will be terminated and a failure flag will be output.

[0045] The task planning employs a "rolling temporal greedy planning algorithm," which specifically includes the following steps: 1) Input parameter construction: The task management unit reads the current status vector of the satellite provided by the satellite management unit in real time. Its definition is: in, These are the position vector and velocity vector in the inertial frame, respectively. A quaternion representing the attitude of a satellite, This is the angular velocity vector. Simultaneously, the set of targets to be observed is acquired. .

[0046] 2) Calculation of observation time window: For each target to be observed Calculate its Earth visibility time window , The start time of the Earth's visible time window. This is the end time of the Earth's visible time window. The calculation logic includes: predicting the future position based on the orbital recursive model, and calculating the angle between the Z-axis (optical axis direction) and the target point vector in the satellite's body coordinate system. A window is considered valid if the following conditions are met: in, For the maximum yaw angle constraint, It refers to the illuminated visible area, not the shadow area (for optical imaging, the effective visible window is determined in the illuminated area).

[0047] 3) Constraint Verification: Before generating the instruction sequence, the system performs the following constraint verification: Attitude maneuver constraints: If If so, the current task is determined to be unexecutable (there is no time to maneuver). This represents the maneuver time required to move from the current attitude to the target attitude. Indicates the current time; Energy constraint: if the current battery state of charge... If (for example, 20%), then delete the task. This is for a safe battery state of charge.

[0048] 4) Conflict resolution and instruction generation: A priority-based greedy strategy is used to generate control instruction sequences. Prioritize high-priority mission targets; if priorities are the same, select the target with the smallest attitude maneuver angle, ultimately generating a sequence packet with a timestamp. in, This indicates a command to adjust the camera's posture. Indicates turning on the camera. This indicates that the camera is off. , , These are the timestamps corresponding to the control sequence; they have no specific meaning, simply representing the timestamps of command execution. For example, in... Execute camera attitude adjustment commands at all times. Keep the camera on at all times. Turn off the camera.

[0049] 4. Command Issuance Node: After the command scheme is generated, the task management unit packages the generated control commands and transmits them to the network communication unit via the RS422 dedicated interface, forwarding the commands to the SAR and optical satellites respectively. If the current communication link has not yet been established or is in the waiting communication window stage, this node will enter a waiting state until the issuance conditions are met to complete the transmission operation, ensuring the accuracy and timing consistency of the command data.

[0050] The control execution module consists of multiple action nodes, including instruction receiving, instruction distribution, and status monitoring. Its behavior tree structure is as follows: Figure 10 As shown, each node is executed sequentially.

[0051] 1. Command Receiving Node: This node is used by the task management unit to receive control command data packets from the upper-level behavioral modules (such as task planning functions or communication links), and performs format verification and command parsing. This node triggers execution immediately upon command arrival. 2. Command Distribution Node: After parsing the control commands, the task management unit transmits the commands to the corresponding execution units, including the attitude and orbit control unit and the task payload unit, according to the command type (such as payload operation or attitude adjustment), via the RS422 or CAN bus interface. This node has a short operation time and relies on the bus status to determine whether the command has been successfully issued. If necessary, a maximum number of attempts or a timeout waiting mechanism can be set.

[0052] 3. Status Monitoring Node: This node runs continuously after the instruction is issued, used to acquire real-time status feedback information from the execution unit, determine whether the instruction has been correctly received and executed, and whether there are any abnormal responses or execution failures. The node supports both status polling and event notification mechanisms, and triggers a reporting action or behavior tree interruption when an abnormal status is detected, ensuring the reliability and security of the system's execution.

[0053] Mission payload unit: Configured on demand according to satellite mission requirements, the payload mainly includes a sensing payload unit and a motion payload unit. A dedicated high-speed data interface is designed between the sensing payload unit and the mission management unit, supporting direct transmission of sensing data to the mission management unit. The sensing payload unit and the motion payload unit are uniformly controlled by the satellite management unit, while the mission management unit indirectly controls the mission payload unit through the satellite management unit.

[0054] In a multi-satellite system, the specific models and quantities of the mission payload unit, network communication unit, attitude and orbit control unit, satellite service management unit, and mission management unit of each satellite can be configured as needed according to mission requirements.

[0055] Multi-satellite coordinated Earth observation: This embodiment considers a low-Earth orbit multi-satellite collaborative observation system consisting of one optical imaging satellite, one SAR imaging satellite, and one relay satellite. Under the management and assistance of the relay satellite, the SAR imaging satellite guides the optical imaging satellite to observe ground targets. Specific mission scenarios are as follows: Figure 2 As shown, the three satellites operate in the same orbit, maintaining a relatively fixed configuration, and are arranged sequentially at certain intervals in their direction of travel. They are: a SAR imaging satellite, a relay satellite, and an optical imaging satellite.

[0056] The mission management systems for SAR imaging satellites, optical imaging satellites, and relay satellites are respectively as follows: Figure 3 , Figure 4 , Figure 5As shown, the three satellites use the same type of network communication unit, attitude and orbit control unit, satellite management unit, telemetry, tracking and command (TT&C) data transmission unit, and power management unit.

[0057] SAR imaging satellites and optical imaging satellites use Type I mission management units, while relay satellites use Type II mission management units. Compared with Type II mission management units, Type I mission management units have stronger intelligent computing performance and can be used to realize on-orbit real-time intelligent processing of optical and SAR images and complete more complex mission calculations. Type II mission management units have one more dedicated RS422 interface for connecting to the network communication unit than Type I mission management units.

[0058] The dedicated interfaces between the network communication unit, attitude and orbit control unit, satellite management unit, and mission management unit of the three satellites are all RS422 interfaces, and the on-board bus adopts CAN bus.

[0059] The SAR imaging satellite carries a SAR imaging payload unit, and the dedicated high-speed data interface between the SAR imaging payload unit and the mission management unit is the SRIO interface.

[0060] The optical imaging satellite carries an optical camera as a sensing payload unit, and the dedicated high-speed data interface between the optical camera and the mission management unit is the LVDS interface.

[0061] The relay satellite has no mission payload but carries two network communication units. Network communication unit one is used to establish a communication link with the SAR imaging satellite and the ground station, and network communication unit two is used to establish a communication link with the optical imaging satellite, thus realizing communication relay between the two imaging satellites and the ground station. The relay satellite is also responsible for mission data interaction with the ground.

[0062] With the support of the mission management system, each satellite autonomously completes the SAR-guided optical Earth observation mission according to the following workflow.

[0063] In such Figure 6 The workflow of each satellite mission management system is described below: Before the mission begins, Samsung maintains a fixed configuration in its designated orbit. The optical imaging satellite and the SAR imaging satellite acquire their own attitude and orbital position in real time within their respective mission management units and transmit this information to their respective network communication units via a dedicated RS422 interface. The network communication units then relay this real-time attitude and orbital position information to the relay satellite via inter-satellite links. The relay satellite receives the real-time attitude and orbital position information from the two imaging satellites through network communication units one and two, respectively. This information, along with its own real-time attitude and orbital position information acquired from its own mission management unit, is then transmitted to the relay satellite's mission management unit via the dedicated RS422 interface between the units.

[0064] In step 1, when an observation mission is required, the ground station transmits the observation mission request to the relay satellite.

[0065] In step 2, the relay satellite receives the observation mission request sent by the ground station through network communication unit one and sends it to the mission management unit via the RS422 dedicated interface. In the mission management unit, combining the target area to be observed and the orbital position information of the SAR satellite, the mission planning program is initiated to plan the mission for the SAR imaging satellite, generate control commands for the SAR imaging satellite, obtain the mission planning results, and send them to network communication unit one via the RS422 dedicated interface, from which network communication unit one then sends them to the SAR imaging satellite.

[0066] In step 3, the SAR imaging satellite receives the mission planning results from the relay satellite via the network communication unit, and then sends them to the mission management unit via the RS422 dedicated interface. The mission management unit then sends them to the satellite management unit via the RS422 dedicated interface. Based on the execution time and content of the control commands described in the planning results, the satellite management unit sends attitude control commands to the attitude and orbit control unit via the CAN bus, controlling the SAR imaging satellite to point towards the target area. Then, it sends the power-on and imaging commands to the SAR imaging payload unit via the CAN bus to perform SAR imaging of the target area. The imaging data is then sent to the mission management unit via the SRIO dedicated interface.

[0067] In step 4, the SAR imaging satellite calls the sensing processing program in the mission management unit to perform on-orbit intelligent processing of the SAR image, discover targets of interest, and obtain their specific location information.

[0068] Specifically, the SAR image is first scanned in its entirety using an on-orbit target detection algorithm (such as a deep learning target recognition network) to identify targets of interest and extract their pixel coordinates on the image plane. Subsequently, the task management unit determines the task based on the pixel coordinates. The target's slant range relative to the satellite is calculated by combining the target's imaging time with SAR system parameters (including range sampling rate, pulse repetition frequency, wavelength, etc.) from auxiliary data. and Doppler frequency At this moment, the target's three-dimensional position vector in the Earth-fixed coordinate system... The unknown quantity to be solved.

[0069] To determine this location vector, the task management unit uses the pixel coordinates of the identified target in the SAR image. Combined with satellite position vectors during SAR imaging Using the Doppler parameters and the distance-Doppler model (RD model), the following system of equations is constructed: in, Slope distance For radar wavelength, and These are the velocity vectors of the satellite and the target, respectively. and These represent the Earth's semi-major and semi-minor axes, respectively. Solving this system of equations simultaneously yields the target's three-dimensional coordinates in the Earth-fixed coordinate system (ECEF). , , And further converted to geodetic coordinates. . , , These are the coordinate values ​​in the Earth-fixed coordinate system. The position vector of the ground target in the Earth-fixed coordinate system is [X,Y,Z], which is the specific location of the ground target that the equations need to solve for.

[0070] Considering the real-time orbit determination error on the satellite, a systematic error compensation amount is introduced after the coordinates are calculated. The compensation amount is based on historical calibration data of the SAR payload, which is pre-stored in the read memory of the mission management unit. Defined as the positioning deviation correction vector obtained during the satellite's on-orbit calibration phase, its mathematical expression is: in, The number of samples for ground calibration control points. Given the known high-precision geodetic coordinates of the i-th control point, These are the coordinates of the corresponding points calculated by the satellite using the original RD model.

[0071] The compensation amount mainly includes a comprehensive correction of the following physical error components: installation error, the deviation of the installation rotation matrix of the SAR antenna phase center or optical camera optical axis relative to the satellite body coordinate system; timing error, the fixed delay of the radar transceiver or camera exposure time relative to the satellite's onboard clock; and orbit determination system deviation, the systematic position deviation of the satellite navigation receiver within a specific orbital arc.

[0072] In the real-time processing step, the task management unit reads the pre-stored data from the memory. For the calculated target coordinates The final coordinates are obtained by making corrections. : In step 5, the mission management unit of the SAR imaging satellite sends the specific location information of the target of interest to the network communication unit through the RS422 dedicated interface, and the network communication unit then sends it to the relay satellite.

[0073] Pointing guidance calculation by optical satellite: In step 5, the relay satellite or optical satellite receives the geodetic coordinates of the target. Then, the following coordinate transformation is performed to generate attitude commands: The geodetic coordinates of the target Position vector when returning to the inertial coordinate system (J2000) Obtain the position vector of the optical satellite at the expected imaging time. Calculate the line-of-sight vector : Calculate the alignment of the optical camera's optical axis (typically the +Z axis). Required target quaternion This enables precise optical guidance.

[0074] In step 6, the relay satellite receives the target location information sent by the SAR imaging satellite through network communication unit one and transmits it to the mission management unit via the RS422 dedicated interface. In the mission management unit, combining the target location and the orbital position information of the optical satellite, a mission planning program is initiated to plan the mission for the optical imaging satellite, generating control commands for the optical imaging satellite, obtaining the mission planning results, and sending them to network communication unit two via the RS422 dedicated interface, from which network communication unit two then transmits them to the optical imaging satellite.

[0075] In step 7, the optical imaging satellite receives the mission planning results from the relay satellite via the network communication unit, and then sends them to the mission management unit via a dedicated RS422 interface. The mission management unit then sends them to the satellite management unit via the same RS422 interface. Based on the execution time and content of the control commands described in the planning results, the satellite management unit sends attitude control commands to the attitude and orbit control unit via the CAN bus, instructing the optical imaging satellite to point at the target location. It then sends the power-on and imaging commands to the optical camera via the CAN bus to perform optical imaging of the target area. The imaging data is sent to the mission management unit via the dedicated LVDS interface.

[0076] In step 8, the optical imaging satellite calls the sensing processing program in the mission management unit to perform on-orbit intelligent processing of the optical image, identify and confirm the target of interest discovered by the SAR imaging satellite, and generate target image slices.

[0077] In step 9, the mission management unit of the optical imaging satellite sends the target image slices and location information to the network communication unit via the RS422 dedicated interface, and the network communication unit then sends them to the relay satellite.

[0078] In step 10, the relay satellite receives the target image slices and location information sent by the optical imaging satellite through network communication unit two, and sends them to the mission management unit via the RS422 dedicated interface. The mission management unit then forwards the information to network communication unit one via the RS422 dedicated interface, and network communication unit one transmits it to the ground station.

[0079] In step 11, the ground station receives the target image slice and location information, completing a multi-satellite coordinated Earth observation mission guided by SAR optics.

[0080] In this embodiment, the three satellites utilize the multi-satellite collaborative mission management system and method of the present invention to enhance mission autonomy. Compared with traditional ground remote control or program control methods, the frequency of interaction between the satellite and the ground station is reduced, alleviating the pressure on ground telemetry and control. At the same time, it supports autonomous repetition of steps 5-11 on the satellite, enabling observation of multiple targets of interest within one orbit and improving observation timeliness.

[0081] The multi-satellite collaborative task management system and method of this invention have the following technical advantages: (1) The multi-satellite collaborative mission management system and method of the present invention provides an effective solution for multi-satellite collaborative mission execution. Compared with the traditional ground remote control or program control method, it improves the autonomy of multi-satellite on-orbit mission execution, reduces the frequency of interaction between satellite and ground station, has higher collaborative efficiency, faster mission timeliness, and can also reduce the pressure on ground telemetry and control resources.

[0082] (2) The architecture of the multi-satellite collaborative mission management system of the present invention is compatible with the general microsatellite architecture. It does not require changing the topology of the on-board CAN bus. All units and payloads can be uniformly managed by the satellite management unit.

[0083] (3) To enable the satellite constellation to perform collaborative tasks, the multi-satellite collaborative task management system of this invention adds a network communication unit to realize information sharing among multiple satellites; it also adds a task management unit to support each satellite in executing corresponding tasks according to the overall task requirements. It has the ability to synchronize multi-satellite status on orbit, perform on-orbit intelligent processing, plan on-orbit tasks, and autonomously control satellite platforms and payloads on orbit, which can efficiently support autonomous on-orbit collaboration of multi-satellite tasks, while being compatible with the traditional satellite ground command remote control or program control usage mode.

[0084] (4) The dedicated interfaces between each unit and the payload enable timely interaction of relevant necessary data when the satellite performs missions in a coordinated manner, taking into account various requirements such as real-time performance and high bandwidth. Moreover, each dedicated interface is independent of the others, avoiding mutual interference and helping to improve the reliability of data transmission.

[0085] (5) Through a dedicated interface between the mission management unit and the satellite service management unit, the mission instructions calculated by the mission management unit can be directly sent to the satellite service management unit, which will then forward them to other onboard units and payloads for execution. The mission management unit does not directly control the satellite platform and payloads; instead, the satellite service management unit acts as an agent and bridge. After receiving the mission instructions sent by the mission management unit, the satellite service management unit will perform verification and security checks before forwarding them to the satellite platform and payloads for execution, thus ensuring satellite safety and improving mission robustness.

Claims

1. A multi-satellite collaborative task management system, characterized in that, This includes the mission payload satellite mission management system and the relay satellite mission management system. The mission payload satellite mission management system is used for the management of mission payload satellites and includes a network communication unit, an attitude and orbit control unit, a satellite service management unit, a mission management unit, and a mission payload unit. The relay satellite mission management system is used to manage relay satellites. It includes a mission management unit and several network communication units. Each network communication unit establishes a communication link with a mission payload satellite, and one of the network communication units also establishes a communication link with the ground station, thereby realizing the orderly relay of communication between multiple mission payload satellites and the ground station, as well as mission data exchange. The mission management unit manages the satellite mission process based on a behavior tree structure, and runs the perception processing module, mission planning module, and control execution module. The task planning module employs a rolling temporal greedy planning algorithm, which specifically includes the following steps: 1) Input parameter construction: The task management unit reads the current status vector of the satellite provided by the satellite management unit in real time. Its definition is: ； in, These are the position vector and velocity vector in the inertial frame, respectively. A quaternion representing the attitude of a satellite, This represents the angular velocity vector; simultaneously, it acquires the set of targets to be observed. ; 2) Calculation of observation time window: For each target to be observed Calculate its Earth visibility time window , The start time of the Earth's visible time window. The calculation logic includes: predicting the future position based on the orbital recursive model, and calculating the angle between the optical axis direction and the target point vector in the satellite body coordinate system. A window is considered valid when the following conditions are met: ； in, For the maximum yaw angle constraint, The visible area under illumination; 3) Constraint Verification: Before generating the instruction sequence, the system performs the following constraint verification: Attitude maneuver constraints: If If so, the current task is determined to be unexecutable. This represents the maneuver time required to move from the current attitude to the target attitude. Indicates the current time; Energy constraint: if the current battery state of charge... If so, delete the task; For a safe battery state of charge; 4) Conflict resolution and instruction generation: The control instruction sequence is generated using a priority-based greedy strategy. Priority is given to selecting high-priority task targets. If the priorities are the same, the target with the smallest attitude maneuver angle is selected. Finally, a sequence packet with a timestamp is generated.

2. The multi-satellite collaborative task management system according to claim 1, characterized in that, The network communication unit establishes communication links between satellites and between satellites and the ground. A dedicated interface is designed between the network communication unit and the mission management unit to send the received status and mission data of other satellites and ground-based data to the mission management unit, while simultaneously sending the status and mission data of the satellite itself to other satellites or downlinking it to the ground.

3. The multi-satellite collaborative task management system according to claim 2, characterized in that, The dedicated interface is an RS422 interface.

4. The multi-satellite collaborative task management system according to claim 1, characterized in that, The mission management unit in the mission payload satellite mission management system is a Type I mission management unit, and the mission management unit in the relay satellite mission management system is a Type II mission management unit. The intelligent computing performance of the Type I mission management unit is superior to that of the Type II mission management unit.

5. The multi-satellite collaborative task management system according to claim 4, characterized in that, The Type II task management unit has one more RS422 interface than the Type I task management unit, which connects to the network communication unit.

6. The multi-satellite collaborative task management system according to claim 1, characterized in that, The mission payload satellites include SAR imaging satellites and optical imaging satellites, each equipped with a SAR imaging satellite mission management system and an optical imaging satellite mission management system, respectively.

7. The multi-satellite collaborative task management system according to claim 6, characterized in that, The SAR imaging satellite mission management system includes a network communication unit, an attitude and orbit control unit, a satellite service management unit, a mission management unit, a SAR imaging payload unit, a telemetry, tracking and command (TT&C) and data transmission unit, and an energy management unit; the optical imaging satellite mission management system includes a network communication unit, an attitude and orbit control unit, a satellite service management unit, a mission management unit, an optical camera, a TT&C and data transmission unit, and an energy management unit.

8. A multi-satellite collaborative task management method, characterized in that, The method implements the multi-satellite collaborative mission management system according to any one of claims 1-7. The method includes mission planning for SAR imaging satellites and mission planning for optical imaging satellites. A relay satellite receives observation mission requirements sent by a ground station through a network communication unit and sends them to a mission management unit. The mission management unit, in conjunction with the target area to be observed and the orbital position information of the SAR imaging satellite, initiates a mission planning program to perform mission planning for the SAR imaging satellite. The relay satellite receives target position information sent by the SAR imaging satellite through a network communication unit and sends it to the mission management unit. The mission management unit, in conjunction with the target position information and the orbital position information of the optical imaging satellite, initiates a mission planning program to perform mission planning for the optical imaging satellite.

9. The multi-satellite collaborative task management method according to claim 8, characterized in that, In the SAR imaging satellite, the imaging data of the SAR imaging payload unit is sent to the mission management unit through the SRIO dedicated interface.

10. The multi-satellite collaborative task management method according to claim 8, characterized in that, In the optical imaging satellite, the imaging data from the optical camera is sent to the mission management unit via a dedicated LVDS interface.

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