Satellite observation task planning method and device based on meta task

Abstract

This invention provides a method and apparatus for satellite observation mission planning based on meta-tasks, relating to the field of satellite observation mission planning technology. The method includes: uniformly decomposing routine and emergency observation needs into corresponding meta-tasks; calculating the visible time window between each satellite in the constellation and each meta-task; assigning each meta-task to a satellite matching the mission payload type of that meta-task based on the visible time window, obtaining an initial meta-task list for each satellite; deleting meta-tasks from the initial meta-task list that do not meet the satellite's mission time constraints and / or satellite energy constraints, obtaining the satellite's final mission list. This invention solves the complexity of constraint handling caused by differences in mission requirements in traditional satellite mission planning, enabling mission planning to be completed in a shorter time and better meeting the needs of both routine and emergency observation missions.

Description

Technical Field

[0001] This invention relates to the field of satellite observation mission planning technology, and specifically to a satellite observation mission planning method and apparatus based on meta-mission. Background Technology

[0002] Satellite mission planning refers to the process of optimizing satellites' performance of ground observation tasks using specific algorithms. In recent years, satellite constellation mission planning has faced increasingly complex situations. On the one hand, the number of satellites and the demand for satellites have increased dramatically, expanding the solution space and putting pressure on the efficiency of algorithms. On the other hand, the observation requirements put forward by different departments vary greatly in terms of mission format, requirements, and information completeness, increasing the difficulty of constellation mission planning.

[0003] In some routine observation missions, such as global geological mapping and weather observation, regular observation of certain targets is required. Meanwhile, emergency observation missions have high timeliness requirements, needing to be completed before specific deadlines. The difference in requirements between these two types of missions makes satellite mission planning more complex. Existing planning methods typically model constraints for both separately and repeatedly trace mission types during the solution process, resulting in complex constraint handling and low algorithm efficiency. Summary of the Invention

[0004] This invention provides a satellite observation mission planning method and apparatus based on meta-tasks, aiming to solve the problems existing in the background technology mentioned above.

[0005] To solve the above-mentioned technical problems, the present invention is implemented as follows: In a first aspect, the present invention provides a satellite observation mission planning method based on meta-tasks, the method comprising: Routine observation needs and emergency observation needs are uniformly decomposed into corresponding meta-tasks. Each meta-task is the smallest action unit from satellite payload power-on to payload power-off. Each meta-task includes at least the mission payload type, mission start time, and mission end time. Calculate the visible time window between each satellite in the constellation and each meta-task, where the visible time window is the period during which the corresponding satellite can observe the corresponding meta-task within the mission cycle; Based on the visible time window, each meta-task is assigned to a satellite that matches the mission payload type of that meta-task, resulting in an initial meta-task list for each satellite. Remove any meta-tasks from the initial meta-task list of each satellite that do not meet the satellite's mission time constraints and / or satellite energy constraints to obtain the satellite's final mission list.

[0006] Optionally, routine observation needs and emergency observation needs can be uniformly decomposed into corresponding meta-tasks, including: Based on the observation frequency and task cycle of the routine observation requirements, the total number of meta-tasks corresponding to each routine observation requirement is determined, and based on the total number of meta-tasks, the observation frequency, and the task cycle, the task start time and task end time of each of the multiple meta-tasks corresponding to the routine observation requirements are determined. The start time of the emergency observation requirement is determined as the task start time of the corresponding meta-task, and the end time of the emergency observation requirement is determined as the task end time of the corresponding meta-task.

[0007] Optionally, calculating the visible time window between each satellite in the constellation and each meta-task includes: Iterate through all meta-tasks and all satellites in the constellation, calculate the visible time window between each satellite and each meta-task, and obtain a list of visible time windows between each satellite and each meta-task; Based on the list of visible time windows between each satellite and each meta-task, a dictionary of visible time windows is constructed with satellite codes as the horizontal axis and meta-task codes as the vertical axis. Each element in the dictionary of visible time windows represents the list of visible time windows between the corresponding satellite and the corresponding meta-task.

[0008] Optionally, based on the visible time window, each meta-task is assigned to a satellite that matches the payload type of that meta-task, including: For each meta-task, all satellites whose visible time window contains the start and end times of the meta-task are identified as the first candidate satellite set corresponding to the meta-task. In the first candidate satellite set corresponding to the meta-mission, all satellites that match the payload type of the meta-mission are identified as the second candidate satellite set corresponding to the meta-mission. Assign the meta-task to a satellite in the second candidate satellite set corresponding to the meta-task.

[0009] Optionally, each meta-task also includes a priority; assigning the meta-task to satellites in the second candidate satellite set corresponding to the meta-task includes: A redundancy allocation algorithm is used to determine the number of satellites n to be allocated to each of the meta-tasks, where n is an integer greater than 1; With the goal of maximizing the priority of all meta-tasks assigned to the selected satellite, n satellites are selected from the second candidate satellite set corresponding to the meta-task, and the meta-task is assigned to the selected n satellites.

[0010] Optionally, meta-tasks that do not meet the satellite's mission time constraints and / or satellite energy constraints are deleted from the initial meta-task list of each satellite to obtain the satellite's final mission list, including: Calculate the load power-on time and load power-off time for each assigned meta-task in the initial meta-task list; If the load shutdown time corresponding to the allocated meta-task is not earlier than the task deadline of the allocated meta-task, the allocated meta-task will be deleted from the initial meta-task list. If the payload shutdown time corresponding to the allocated meta-task is earlier than the task deadline of the allocated meta-task, and the interval between the payload startup time corresponding to the allocated meta-task and the payload shutdown time corresponding to the previous meta-task is greater than or equal to the satellite adjustment interval time, the allocated meta-task will be deleted from the initial meta-task list. From the initial list of meta-tasks after deletion, remove meta-tasks that do not meet the satellite's energy constraints to obtain the final list of tasks for the satellite.

[0011] Optionally, each meta-task also includes a priority; calculating the load power-on time and load power-off time corresponding to each assigned meta-task in the meta-task list, including: For each satellite, all meta-tasks assigned to that satellite are traversed in descending order of meta-task priority. For the first meta-task encountered, the payload activation time corresponding to the first meta-task is determined based on the task start time of the first meta-task and the satellite adjustment interval time. Based on the payload startup time corresponding to the first meta-task, the task execution duration of the first meta-task is added to determine the payload shutdown time corresponding to the first meta-task. For each non-first metatask encountered, the payload startup time corresponding to the current non-first metatask is determined by adding the satellite adjustment interval time to the larger of the payload shutdown time of the previous metatask and the task start time of the current non-first metatask encountered. Based on the load startup time of the currently traversed non-first meta-task, the task execution duration of the currently traversed non-first meta-task is added to determine the load shutdown time of the currently traversed non-first meta-task.

[0012] Optionally, each meta-task also includes a priority; from the initial list of deleted meta-tasks, meta-tasks that do not meet the satellite's energy constraints are removed to obtain the satellite's final task list, which includes: According to the priority of the meta-tasks from high to low, traverse the initial list of meta-tasks after deletion, and accumulate the total execution time of all meta-tasks that have been traversed. If the total execution time does not exceed the maximum working time within a single orbital cycle of the satellite, the currently traversed meta-task is added to the satellite's final task list, and the traversal of the next meta-task continues. If the total execution time exceeds the maximum working time within a single orbital period of the satellite, the currently traversed meta-task is deleted from the satellite's initial task list, and the process continues to traverse the next meta-task until the deleted initial meta-task list is traversed, thus obtaining the satellite's final task list.

[0013] Optionally, after obtaining the final mission list for the satellite, the method further includes: For each satellite, a corresponding payload power-on / off sequence is generated based on the satellite's final mission list. The payload power-on / off sequence includes the payload power-on time and payload power-off time corresponding to each meta-mission. Based on the satellite's payload power-on / off sequence, a corresponding pendulum angle measurement maneuver sequence is generated; Based on the satellite's payload power-on / off sequence and the corresponding final task list, the satellite executes the task list.

[0014] Secondly, the present invention provides a satellite observation mission planning method based on meta-tasks, the apparatus comprising: The decomposition module is used to decompose routine observation needs and emergency observation needs into corresponding meta-tasks. The meta-task is the smallest action unit for satellite to perform from payload power-on to payload power-off. Each meta-task includes at least the mission payload type, mission start time and mission end time. The calculation module is used to calculate the visible time window between each satellite in the constellation and each meta-task, wherein the visible time window is the period during which the corresponding satellite can observe the corresponding meta-task within the mission cycle; The allocation module is used to allocate each metatask to a satellite that matches the mission payload type of the metatask based on the visible time window, thereby obtaining an initial metatask list for each satellite. The deletion module is used to delete meta-tasks from the initial meta-task list of each satellite that do not meet the satellite's mission time constraints and / or satellite energy constraints, thus obtaining the satellite's final mission list.

[0015] The technical solution provided by this invention brings at least the following beneficial effects: This invention addresses the complexity of constraint handling caused by varying mission requirements in traditional satellite mission planning by uniformly decomposing routine and emergency observation needs into meta-tasks and employing a task allocation method based on visible time windows. By matching each meta-task with the satellite's payload type, time window, and energy constraints, the efficiency and accuracy of task allocation are effectively improved. Simultaneously, minimizing meta-tasks simplifies the complex mission planning process, reduces the complexity of constraint modeling, enhances the constellation system's adaptability to diverse observation needs, reduces computational load, and significantly improves the efficiency of constellation mission planning and the utilization rate of satellite resources. Therefore, this invention can complete mission planning in a shorter time and better meet the needs of both routine and emergency observation missions. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the overall architecture of a satellite observation mission planning method based on meta-tasks provided in an embodiment of the present invention; Figure 2 This is a schematic diagram illustrating the steps of a satellite observation mission planning method based on meta-tasks provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the meta-task allocation process in one embodiment of the present invention; Figure 4 This is a schematic diagram of the on-board mission planning process in one embodiment of the present invention; Figure 5 This is a structural block diagram of a satellite observation mission planning device based on meta-tasks provided in one embodiment of the present invention. Detailed Implementation

[0018] 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, 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.

[0019] Remote sensing satellites play a vital role in agricultural production, resource exploration, and disaster relief. The core of satellite mission planning is to allocate the execution sequence of observation tasks to satellites through optimization algorithms to meet requirements such as timeliness and resource balance. With the simultaneous growth of the number of satellites and the demand for ground observation, on-board mission planning faces the following challenges: First, routine observation needs (such as periodic geological mapping) require fixed frequency requirements, while emergency observation needs (such as disaster monitoring) emphasize strict deadlines. Traditional methods typically model constraints for these two types of tasks separately, leading to complex algorithm processes, cumbersome constraint handling, and difficulty in efficient overall planning. Second, traditional planning methods, due to their divide-and-conquer approach to the two types of tasks, are prone to satellite idleness or task conflicts, resulting in wasted energy and payload resources. Finally, the high timeliness requirements of emergency tasks are incompatible with the periodic characteristics of routine tasks, and existing algorithms struggle to quickly respond to multiple needs within a unified framework.

[0020] This invention aims to simplify the complex constraint modeling process, improve planning efficiency and resource utilization, and enhance the constellation's dynamic coordination capability for both routine and emergency observation needs. Figure 1 This is a schematic diagram of the overall architecture of a satellite observation mission planning method based on meta-tasks provided in one embodiment of the present invention, as shown below. Figure 1 As shown, the core concept of this invention lies in decomposing routine and emergency observation needs into meta-tasks, which are atomic action units of the satellite from payload power-on to power-off. Through meta-task decomposition, the frequency constraints of routine observation needs are transformed into discrete time constraints, achieving a unified form for the two types of tasks. Furthermore, based on a visible time window dictionary and intelligent optimization algorithms, meta-tasks are allocated to matching satellites according to priority and constraints, resolving resource allocation conflicts. The planned initial task list is sent to the corresponding satellites via a satellite-to-ground link. The satellites autonomously perform time-series arrangement and conflict resolution of the allocated meta-tasks, dynamically adjusting the corresponding initial task list (single-satellite observation sequence planning) in conjunction with energy constraints, ultimately obtaining a final task list to indicate the execution of observation tasks, ensuring task feasibility while improving task efficiency.

[0021] Figure 2 This is a schematic diagram illustrating the steps of a satellite observation mission planning method based on meta-tasks, provided in one embodiment of the present invention. Please refer to [link / reference]. Figure 2 The method includes: Step S101: Decompose the routine observation requirements and emergency observation requirements into corresponding meta-tasks. Each meta-task is the smallest action unit from the satellite's payload power-on to payload power-off. Each meta-task includes at least the payload type, the start time, and the end time.

[0022] Routine observation needs refer to the needs based on daily monitoring tasks, which involve the regular observation of important targets worldwide. For example, tasks such as geological mapping and weather monitoring usually require satellites to observe specific targets at a certain frequency (e.g., 3 times a day, 1 time a week), and these needs generally do not have urgent deadlines.

[0023] The list of routine observation needs can be represented as follows ,but Information elements include:

[0024] in, Coding for routine observation needs, The longitude of the target point The latitude of the target point To meet the target observation frequency requirements, This is based on load type requirements.

[0025] Emergency observation needs refer to the requirements for responding to sudden events or urgent tasks (such as post-disaster relief, sudden natural disasters, etc.). Emergency observation needs are highly time-sensitive, and the observation targets and timing are often affected by the emergency. For example, satellites need to complete observations of a specific area before a certain point in time.

[0026] The list of emergency observation needs can be represented as follows: ,but re Information elements include:

[0027] in, This is the deadline for the task.

[0028] The meta-task described in this embodiment refers to the smallest unit of action a satellite performs during an observation mission, from the moment the payload is powered on until it is powered off. In other words, a meta-task encompasses all the critical actions required for the satellite to perform its mission. These actions include turning payload equipment on and off, acquiring and processing images, and completing all related operations. Complex tasks can be accomplished by combining multiple meta-tasks. Each meta-task is a complete cycle and must be completed within a specified time window.

[0029] While routine and emergency observation needs differ in frequency requirements and urgency, they both involve the execution of satellite-based Earth observation missions. Decomposing routine and emergency observation needs into unified meta-tasks eliminates their differences, allowing for a standardized mission planning process and simplifying task allocation and scheduling. This effectively avoids the tediousness of establishing separate, complex constraint models for routine and emergency observations, reducing the complexity of constraint modeling.

[0030] In an optional implementation, step S101 specifically includes steps S1011 to S1012: Step S1011: Based on the observation frequency and task cycle of the routine observation requirements, determine the total number of meta-tasks corresponding to each routine observation requirement, and based on the total number of meta-tasks, the observation frequency, and the task cycle, determine the task start time and task end time of each of the multiple meta-tasks corresponding to the routine observation requirements.

[0031] The routine observation requirements are broken down into multiple discrete meta-tasks based on their observation frequency requirements and task cycles, and each meta-task is assigned a task start time and a task end time.

[0032] The input parameter for routine observation needs is the demand code. Latitude and longitude of the target point Observation frequency requirements (e.g., 3 times / day, 1 time / week) and load type Task cycle This refers to the timeframe specified during task planning to achieve the target task. Within the task cycle... Within a specific time window, the satellite must execute corresponding meta-tasks, with a mission cycle of... It can be a few hours, a day, or longer, as preset by the control center.

[0033] The start time of the planning cycle for routine observation needs This marks the starting point for the planning process.

[0034] Based on observation frequency and task cycle Calculate the total number of meta-tasks corresponding to this routine observation requirement.

[0035]

[0036] For example, if sky, Next / day, then Each meta-task.

[0037] Based on the principle of time uniformity, the task cycle Divided into Equal time intervals Each time period Each corresponds to an execution window for a meta-task.

[0038]

[0039] For example, if sky, ,but

[0040] No. Individual Tasks ( ) Task start time and task deadline They are respectively:

[0041]

[0042] in, The duration required for a single satellite mission (such as the fixed duration from payload power-on to power-off).

[0043] For example, if , The start time of the first meta-task is [hour]. The deadline for the first meta-task (Assuming) (minutes). The start time of the second meta-task. And so on.

[0044] Each metata task is assigned a unique code, according to the following rules:

[0045] in, Generate a random integer between 1 and 1000 to ensure that the meta-task codes for the same requirement decomposition are not repeated.

[0046] Based on the department or task importance of the needs for routine observation, the control center personnel assign priority to each meta-task. (e.g., levels 1 to 10, with higher values ​​indicating higher priority).

[0047] Ultimately, multiple meta-tasks corresponding to the needs of routine observation are generated. :

[0048] Among them, the meta-tasks corresponding to the needs of routine observation are: Separately with the needs of routine observation One-to-one correspondence.

[0049] Step S1012: The start time of the emergency observation requirement is determined as the task start time of the meta-task corresponding to the emergency observation requirement, and the end time of the emergency observation requirement is determined as the task end time of the meta-task corresponding to the emergency observation requirement.

[0050] Emergency observation requirements are directly converted into corresponding individual meta-tasks, inheriting their original time constraints.

[0051] The input parameter for emergency observation requirements is the requirement code. Latitude and longitude of the target point Task deadline and load type .

[0052] Start time of the meta-task corresponding to emergency observation needs Default and planning cycle start time Alignment, that is

[0053] Deadline for meta-tasks corresponding to emergency observation needs The deadline for directly inheriting emergency observation requirements , that is

[0054] For example, if the deadline for emergency observation needs is: The corresponding meta-task time window is:

[0055] The generation rules for the meta-task codes corresponding to emergency observation needs are consistent with those for routine observation needs, that is...

[0056] The encoding rules for meta-tasks are consistent with routine requirements:

[0057] Emergency observation missions typically have a higher priority than routine observation missions (e.g., This ensures that it is given priority during the allocation and planning phases.

[0058] Ultimately, a single meta-task corresponding to the emergency observation requirements is generated. :

[0059] Among them, the meta-tasks corresponding to emergency observation needs are: Separately with emergency observation needs One-to-one correspondence.

[0060] Step S102: Calculate the visible time window between each satellite in the constellation and each meta-task, where the visible time window is the time period during which the corresponding satellite can observe the corresponding meta-task within the mission cycle.

[0061] As a satellite orbits, its relative position to ground targets (i.e., the observation targets of the meta-mission) changes. Due to differences in satellite orbits and the Earth's rotation, the satellite's field of view varies at different times, and the area of ​​the ground it can cover also differs. Therefore, a satellite can only "see" a certain ground target for a specific period of time; this period is the satellite's visible time window for the corresponding meta-mission.

[0062] In an optional implementation, step S102 specifically includes steps S1021 to S1022: Step S1021: Traverse all meta-tasks and all satellites in the constellation, calculate the visible time window between each satellite and each meta-task, and obtain a list of visible time windows between each satellite and each meta-task.

[0063] First, iterate through all satellites and all meta-missions in the constellation. Each satellite may have multiple available time windows for executing a meta-mission, and each meta-mission may also require observations at different time periods.

[0064] For each combination of satellites and each meta-task, the visible time window between them can be calculated using typical time window solving algorithms such as the tracking propagation method, the distance step size binary search method, and the true nearest angle iterative compensation method. This embodiment does not limit the specific algorithms used.

[0065] For each combination of satellite and meta-task, at least one visible time window is calculated whereby the corresponding satellite can observe the corresponding meta-task (for scheduling needs of multiple tasks, there may be multiple visible time intervals). This at least one visible time window constitutes a list of visible time windows for the corresponding satellite to the corresponding meta-task. The visible time list records all visible time periods for each satellite to each meta-task.

[0066] For example, suppose there are three satellites A, B, and C, and four meta-tasks T1, T2, T3, and T4. Satellite A can observe meta-task T1 during the time periods [10:00, 12:00] and [14:00, 16:00], while satellite B can only observe T1 during the time period [13:00, 15:00]. Similarly, satellite C may see other meta-tasks in different time windows. By iterating through all the satellites and meta-tasks, a list of visible time windows between each satellite and each meta-task is obtained.

[0067] Step S1022: Based on the list of visible time windows between each satellite and each meta-task, construct a visible time window dictionary with satellite encoding as the horizontal axis and meta-task encoding as the vertical axis. Each element in the visible time window dictionary represents the list of visible time windows between the corresponding satellite and the corresponding meta-task.

[0068] Organize the list of visible time windows between each satellite and each meta-task into an easily accessible structure. Figure 3 This is a flowchart illustrating the meta-task allocation process in one embodiment of the present invention. Please refer to [link / reference]. Figure 3 To facilitate subsequent task allocation and scheduling, a dictionary structure is used to organize these visible time window data; that is, a visible time window dictionary is constructed. .

[0069]

[0070]

[0071] Dictionary in the visible time window In the diagram, the horizontal axis represents satellite coding, and the vertical axis represents meta-mission coding. Each element of the visible time window dictionary corresponds to a list of visible time windows between a specific satellite and a specific meta-mission.

[0072] Assuming there are three satellites (A, B, C) and four meta-tasks (T1, T2, T3, T4), in the visible time window dictionary, the visible time window list for satellite A and meta-task T1 might be [10:00, 12:00] and [14:00, 16:00], the visible time window list for satellite B and meta-task T1 might be [13:00, 15:00], and so on. The final dictionary can be shown in Table 1: Table 1

[0073] By constructing a visible time window dictionary, subsequent task scheduling and task allocation can easily find the visible time window for each satellite for each meta-task.

[0074] Step S103: Based on the visible time window, assign each meta-task to a satellite that matches the mission payload type of that meta-task to obtain an initial meta-task list for each satellite.

[0075] Task allocation will be based on a visible time window dictionary to determine which satellites can perform which meta-tasks at what time, ensuring that satellite resources are allocated reasonably while meeting the time and visibility requirements of the tasks.

[0076] The mission payload type refers to the type of equipment or sensors carried on a satellite, which are used to perform specific observation tasks. Each meta-mission has its own payload requirements based on its corresponding observation needs. For example, some missions may require high-resolution imagers, while others may require infrared scanning equipment. Therefore, only satellites with payload types that match the meta-mission can undertake these meta-missions.

[0077] Understandably, during the meta-task allocation process, the visible time window and mission payload type are used to determine whether the meta-task and the satellite meet the following conditions: Figure 3 The satellite-to-ground visibility constraints and payload type constraints shown limit the range of satellites that can be assigned to each meta-mission.

[0078] In an optional implementation, step S103 specifically includes steps S1031 to S1033: Step S1031: For each meta-task, all satellites whose visible time window contains the start time and end time of the meta-task are determined as the first candidate satellite set corresponding to the meta-task.

[0079] For each meta-task, select the first set of candidate satellites that have a visible time window within the task start and end time range (from task start time to task end time).

[0080] As mentioned earlier, each metatask includes metatask encoding. Task start and end time and .

[0081] Visible Time Window Dictionary Store each satellite For each meta-task A list of visible time windows.

[0082] The encoding set of all satellites in orbit is .

[0083] For each metata task, iterate through Each satellite in Check whether its visible time window covers the time window of the meta-task. The specific condition is: there must be at least one visible time period. (from) ), so that:

[0084] If the time window of a meta-mission is completely contained within the visible time period of a certain satellite, then that satellite is selected as a candidate satellite for the meta-mission.

[0085] All candidate satellites that meet the above conditions will be added to the first candidate satellite set:

[0086] For example, suppose the meta-task The time window is: [2025-03-26 00:00:00, 2025-03-26 00:30:00], satellite The visible time window is: [2025-03-26 00:00:00, 2025-03-26 01:00:00], then the satellite Joined If the satellite If the visible window is [2025-03-26 08:00:00, 2025-03-26 09:00:00], then it will not be added because it does not cover the meta-task time window.

[0087] Step S1032: In the first candidate satellite set corresponding to the meta-mission, all satellites that match the payload type of the meta-mission are determined as the second candidate satellite set corresponding to the meta-mission.

[0088] From the first set of candidate satellites, a second set of candidate satellites that matches the payload type and the requirements of the meta-mission is further selected.

[0089] Traversal Each satellite in Check if its load type is consistent with the requirements of the meta-task:

[0090] Satellites that meet the payload type matching criteria are retained to obtain the second candidate satellite set:

[0091] Assuming a meta-task The payload type is "high resolution imager" ( First candidate satellite set Among them, satellites The load type is (Matching). Satellite The payload type is "infrared sensor" (mismatch). Therefore, the second candidate satellite set is... .

[0092] Step S1033: Assign the meta-task to a satellite in the second candidate satellite set corresponding to the meta-task.

[0093] In an optional implementation, each meta-task further includes a priority; step S1033 specifically includes steps S10331 to S10332: Step S10331: Using a redundancy allocation algorithm, determine the number of satellites n to be allocated to each of the meta-tasks, where n is an integer greater than 1.

[0094] The redundancy allocation algorithm determines the number of satellites n (n>1) that need to be allocated to each meta-task, thereby improving the success rate and fault tolerance of task execution.

[0095] The redundancy allocation algorithm can be configured to distinguish between meta-tasks corresponding to routine observation needs (routine tasks) and meta-tasks corresponding to emergency observation needs (emergency tasks).

[0096] For routine tasks, default redundant parameters are used. (A certain delay is acceptable due to the nature of the task being periodic).

[0097] For emergency missions, settings are dynamically configured based on the urgency of the mission. (e.g. n) or ).

[0098] The redundancy allocation algorithm can also be configured to uniformly set different values ​​of n for different levels of redundancy based on the priority of the meta-task. For example:

[0099] in, Priority of the meta-task.

[0100] For example, meta-task Priority (High priority) then Meta-task Priority (Medium priority) .

[0101] Step S10332: With the goal of maximizing the priority of all meta-tasks assigned to the selected satellite, select n satellites from the second candidate satellite set corresponding to the meta-task, and assign the meta-task to the selected n satellites.

[0102] Known second candidate satellite set Redundant parameters (Determined by step S10331). Each satellite in the second candidate satellite set. Sum of assigned meta-task priorities .

[0103] Figure 3 The objective function shown is set as follows: choose A combination of satellites This maximizes the overall priority. The constraints are: and .

[0104] A greedy algorithm can be used to select the combination of n satellites with the highest total priority. Specifically, for each satellite... Calculate its gain value:

[0105] according to Candidate satellites are sorted in descending order, and the first one is selected. One satellite.

[0106] For example, suppose a candidate satellite set Their current priorities are as follows: , , Metatask Priority Redundant parameters .

[0107] but ; ; .

[0108] The sorting result is Final choice .

[0109] For each satellite, all initially assigned meta-tasks are used as the initial meta-task list.

[0110] Step S104: Delete the meta-tasks in the initial meta-task list of each satellite that do not meet the satellite's mission time constraints and / or satellite energy constraints, and obtain the satellite's final mission list.

[0111] Figure 4 This is a schematic diagram of the on-board mission planning process in one embodiment of the present invention, as shown below. Figure 4As shown, the initial meta-task list for each satellite is filtered out. Meta-tasks that cannot meet the mission time constraints or satellite energy constraints are removed from the initial mission list for each satellite (i.e., conflicting missions are deleted), thus obtaining the final mission list.

[0112] Task time constraints refer to the following three principles: First, the load start-up and shutdown times should fall within the start and end times of the corresponding meta-task; Second, the load power-on / off interval should include the task execution time required for task execution; Third, for adjacent missions, the time interval between the payload shutdown time of the previous mission and the payload startup time of the next mission needs to be greater than the satellite adjustment interval (satellite platform and payload recovery and adjustment time).

[0113] Satellite energy constraints refer to the fact that the total time a satellite spends performing a mission in a single orbit does not exceed its energy level limit.

[0114] In an optional implementation, step S104 specifically includes steps S1041 to S1044: Step S1041: Calculate the load power-on time and load power-off time corresponding to each allocated meta-task in the initial meta-task list.

[0115] The assigned meta-task can be any meta-task in the initial meta-task list, representing the initial meta-task assigned to the satellite.

[0116] Payload activation time refers to the time when satellite payload equipment begins operation; that is, the moment when the instruments or sensors on the satellite used for observation or detection are turned on and begin performing their tasks. Suppose satellite A is performing an imaging meta-mission, which requires the satellite's imaging payload (e.g., a high-resolution camera) to start operating and photograph the target. In the meta-mission's schedule, satellite A's payload is activated at 10:00 and completes the imaging task at 10:30. Therefore, 10:00 is the payload activation time.

[0117] Payload shutdown time refers to the time when satellite payload equipment stops operating; that is, the moment the payload equipment finishes its mission and shuts down. Assume satellite A completes its imaging mission at 10:30 and then ceases performing any tasks. At this time, satellite A will shut down its imaging payload to conserve energy. Assuming the shutdown operation occurs at 10:45, then 10:45 is the payload shutdown time.

[0118] In this embodiment, the satellite payload executes the meta-task in the order of mission start time, payload power-on time, payload power-off time, and mission deadline.

[0119] In an optional implementation, step S1041 specifically includes steps S10411 to S10415: Step S10411: For each satellite, traverse all the meta-tasks assigned to that satellite in descending order of meta-task priority.

[0120] Sort tasks by priority from highest to lowest to ensure that high-priority tasks are scheduled first.

[0121] Known satellites Initial meta-task list The priority of each meta-task .Will The meta-tasks are sorted in descending order of priority, generating an ordered list to be traversed:

[0122] If the priorities of the three meta-tasks are respectively , , The ordered list is:

[0123] Step S10412: For the first meta-task encountered, determine the payload startup time corresponding to the first meta-task based on the task start time of the first meta-task and the satellite adjustment interval time.

[0124] Step S10413: Based on the load power-on time corresponding to the first meta-task, add the task execution time of the first meta-task to determine the load power-off time corresponding to the first meta-task.

[0125] Given the first metatask in an ordered list Task start time and satellite adjustment interval (e.g., 15 minutes).

[0126] The payload startup time corresponding to the first meta-task is:

[0127] The payload shutdown time corresponding to the first meta-task is:

[0128] in, The duration of a single satellite execution of a meta-task (e.g., 30 minutes). If , minute, In minutes, the payload startup time and payload shutdown time corresponding to the first meta-task are respectively:

[0129]

[0130] Step S10414: For non-first meta-tasks traversed, the payload startup time corresponding to the current non-first meta-task is determined by adding the satellite adjustment interval time to the larger of the payload shutdown time of the previous meta-task and the task start time of the current non-first meta-task.

[0131] Step S10415: Based on the load power-on time of the currently traversed non-first meta-task, add the task execution time of the currently traversed non-first meta-task to determine the load power-off time of the currently traversed non-first meta-task.

[0132] For the currently traversed non-first metatask (such as the second or third metatask in an ordered list), it is necessary to consider whether it will conflict with the preceding metatask (the metatask preceding the currently traversed non-first metatask). The preceding metatask is known. shutdown time And the non-first metatask currently being traversed. start time .

[0133] The current non-first meta-task's payload startup time is:

[0134] The payload shutdown time corresponding to the currently traversed non-first meta-task is:

[0135] Assuming the previous task The shutdown time is 10:45, and the currently traversed non-first metatask... The start time is 11:00. =15 minutes, then: The payload power-on time and payload power-off time corresponding to the currently traversed non-first meta-tasks are as follows:

[0136]

[0137] Step S1042, the load shutdown time corresponding to the allocated meta-task No earlier than the task deadline of the assigned meta-task In the event of this, the assigned meta-task is removed from the initial meta-task list.

[0138] If the load shutdown time corresponding to a certain allocation meta-task If so, then the metatask is removed from the initial metatask list.

[0139] For example, on satellite A, if the payload shutdown time corresponding to a certain allocation meta-task... However, the task deadline for this assigned meta-task was calculated. If so, the assigned meta-task is removed from the initial meta-task list of satellite A.

[0140] Step S1043: The load shutdown time corresponding to the allocation meta-task is earlier than the task deadline time of the allocation meta-task, and the interval time between the load startup time corresponding to the allocation meta-task and the load shutdown time corresponding to the previous meta-task. Greater than or equal to the satellite adjustment interval time In the event of this, the assigned meta-task is removed from the initial meta-task list.

[0141] For example, on satellite B, if the payload shutdown time corresponding to a certain allocation meta-task... However, the interval between adjacent tasks If so, the assigned meta-task is removed from the initial meta-task list of satellite B.

[0142] Step S1044: From the initial meta-task list after deletion, delete the meta-tasks that do not meet the satellite energy constraints of the satellite to obtain the final task list of the satellite.

[0143] The total mission duration within each orbital period of the satellite must be less than the maximum operable duration within a single orbital period. (Reflecting the satellite's energy limitations).

[0144] Calculate the total duration of all meta-tasks within the current period:

[0145] In one alternative implementation, for each satellite, if the total duration of all meta-tasks in the initial meta-task list exceeds... Tasks are deleted sequentially from low to high priority until a meta-task that meets the satellite's energy constraints is reached.

[0146] In another optional implementation, step S1044 specifically includes steps S10441 to S10443: Step S10441: Traverse the initial meta-task list after deletion according to the priority of meta-tasks from high to low, and accumulate the total execution time of all meta-tasks that have been traversed.

[0147] The initial meta-task list after deletion in steps S1042 and S1043 is traversed from high to low priority, and the task execution time is gradually accumulated to provide a basis for subsequent energy constraint checks.

[0148] Starting with the highest priority task, iterate through the initial metatasks in the metatask list after deletion. ( ).

[0149] Assuming the satellite's power supply lasts for 2 hours ( (minutes), the initial meta-task list after deletion is shown in Table 2: Table 2

[0150] The traversal order is ID1, ID2, ID3, ID4.

[0151] The total execution time of all currently traversed metatasks is obtained by summing their execution times. .

[0152] Check the total execution time of all metatasks that have been traversed so far. Does it exceed .

[0153] In step S10442, if the total execution time does not exceed the maximum working time within the single orbit cycle of the satellite, the currently traversed meta-task is added to the final task list of the satellite, and the traversal of the next meta-task continues.

[0154] If the total execution time does not exceed the energy limit, the currently traversed meta-tasks are retained in the satellite's final task list, and the traversal continues.

[0155] And continue iterating through the next metatask.

[0156]

[0157] In the formula, .

[0158] In step S10443, if the total execution time exceeds the maximum working time within a single orbital period of the satellite, the currently traversed meta-task is deleted from the initial task list of the satellite, and the next meta-task is traversed until the initial meta-task list after deletion is traversed, thus obtaining the final task list of the satellite.

[0159] when Exceed When the current task is deleted, the process continues to iterate through subsequent tasks.

[0160] That is, if Undo the accumulation of the currently traversed metatasks, that is:

[0161] Skip the currently traversed metatask Instead of adding it to the final task list, continue traversing the next meta-task until the initial meta-task list after deletion has been completely traversed, thus obtaining the final task list for the satellite.

[0162] This invention addresses the complexity of constraint handling caused by varying mission requirements in traditional satellite mission planning by uniformly decomposing routine and emergency observation needs into meta-tasks and employing a task allocation method based on visible time windows. By matching each meta-task with the satellite's payload type, time window, and energy constraints, the efficiency and accuracy of task allocation are effectively improved. Simultaneously, minimizing meta-tasks simplifies the complex mission planning process, reduces the complexity of constraint modeling, enhances the constellation system's adaptability to diverse observation needs, reduces computational load, and significantly improves the efficiency of constellation mission planning and the utilization rate of satellite resources. Therefore, this invention can complete mission planning in a shorter time and better meet the needs of both routine and emergency observation missions.

[0163] In an alternative implementation, after obtaining the final mission list for the satellite, the method further includes: Step S201: For each satellite, generate a corresponding payload power-on / off action sequence based on the satellite's final mission list. The payload power-on / off action sequence includes the payload power-on time and payload power-off time corresponding to each meta-mission.

[0164] Known satellites Final task list (Sorted by priority and passed constraint checks), load on / off time for each meta-task .

[0165] Iterate through each metatask in the final task list Record the load power-on and power-off times to form an ordered sequence of load power-on and power-off actions:

[0166] Step S202: Generate the corresponding pendulum angle measurement maneuver sequence based on the satellite's payload power-on / off sequence.

[0167] Based on the satellite's payload power-on / off sequence, and according to the target mission's location and payload power-on / off time, the satellite's attitude adjustment parameters are calculated, and a swing angle maneuver sequence is generated.

[0168] The target latitude and longitude of each meta-task are known. Satellite orbital parameters (such as orbital altitude and inclination), and payload power-on / off sequence. .

[0169] Based on the target latitude and longitude and satellite orbit parameters, calculate the attitude angles (such as pitch angle and yaw angle) that the satellite needs to adjust.

[0170] The satellite's position at the moment of mission execution is predicted using an orbital dynamics model (such as the two-body problem or the SGP4 model), and the required attitude angle is calculated by combining the target point coordinates.

[0171] Align the attitude adjustment parameters of each meta-task with the load on / off times to form a swing angle measurement maneuver sequence:

[0172] in, Indicates the execution of a meta-task The attitude angle parameters at that time.

[0173] For example, if meta-task The target is located at 120°E, 30°N. The satellite needs to adjust its elevation angle to 25°. The corresponding pendulum angle measurement action is as follows:

[0174] Step S203: Based on the payload power-on / off sequence of the satellite, execute the corresponding final task list through the satellite.

[0175] The payload power-on / off sequence and the swing angle measurement maneuver sequence are uploaded to the satellite's onboard computer via the ground station.

[0176] The satellite performs payload control, attitude adjustment, and monitoring at designated times according to a predetermined time sequence. The satellite provides real-time feedback on the mission execution status (such as payload status and attitude angle error) to the ground control center.

[0177] For example, satellite At 10:15, adjust the pitch angle to 25° and activate the load. The imaging mission was initiated, with the payload shut down at 10:45; then, at 11:15, the attitude was readjusted and the mission resumed. .

[0178] Figure 5 This is a structural block diagram of a satellite observation mission planning device based on meta-tasks provided in one embodiment of the present invention, as shown below. Figure 5 As shown, the device includes: The decomposition module 301 is used to decompose the routine observation requirements and emergency observation requirements into corresponding meta-tasks. The meta-task is the smallest action unit from the satellite's payload power-on to payload power-off. Each meta-task includes at least the task payload type, task start time, and task end time. The calculation module 302 is used to calculate the visible time window between each satellite in the constellation and each meta-task, wherein the visible time window is the time period during which the corresponding satellite can observe the corresponding meta-task within the mission cycle; The allocation module 303 is used to allocate each meta-task to a satellite that matches the mission payload type of the meta-task based on the visible time window, thereby obtaining an initial meta-task list for each satellite. The deletion module 304 is used to delete meta-tasks in the initial meta-task list of each satellite that do not meet the satellite's mission time constraints and / or satellite energy constraints, thereby obtaining the satellite's final mission list.

[0179] In one optional implementation, the decomposition module includes: The first decomposition submodule is used to determine the total number of meta-tasks corresponding to each normalized observation requirement based on the observation frequency and task cycle of the normalized observation requirement, and to determine the task start time and task end time of each of the multiple meta-tasks corresponding to the normalized observation requirement based on the total number of meta-tasks, the observation frequency and the task cycle. The second decomposition submodule is used to determine the start time of the emergency observation requirement as the task start time of the corresponding meta-task, and to determine the end time of the emergency observation requirement as the task end time of the corresponding meta-task.

[0180] In one optional implementation, the computing module includes: The first calculation submodule is used to traverse all meta-tasks and all satellites in the constellation, calculate the visible time window between each satellite and each meta-task, and obtain a list of visible time windows between each satellite and each meta-task. The second calculation submodule is used to construct a visible time window dictionary with satellite encoding as the horizontal axis and meta-task encoding as the vertical axis based on the visible time window list between each satellite and each meta-task. Each element in the visible time window dictionary represents the visible time window list between the corresponding satellite and the corresponding meta-task.

[0181] In one optional implementation, the allocation module includes: The first allocation submodule is used to determine, for each meta-task, all satellites whose visible time window contains the start time and end time of the meta-task as the first candidate satellite set corresponding to the meta-task. The second allocation submodule is used to determine all satellites that match the payload type of the first candidate satellite set corresponding to the meta-task as the second candidate satellite set corresponding to the meta-task. The third allocation submodule is used to allocate the metatask to satellites in the second candidate satellite set corresponding to the metatask.

[0182] In one alternative implementation, each meta-task further includes a priority; the second allocation submodule includes: The first allocation unit is used to determine the number of satellites n to be allocated to each of the meta-tasks using a redundancy allocation algorithm, where n is an integer greater than 1. The second allocation unit is used to select n satellites from the second candidate satellite set corresponding to the selected meta-task, with the goal of maximizing the priority of all meta-tasks assigned to the selected satellites, and to allocate the meta-task to the selected n satellites.

[0183] In one optional implementation, the deletion module includes: The first deletion submodule is used to calculate the load power-on time and load power-off time corresponding to each allocated meta-task in the initial meta-task list; The second deletion submodule is used to delete the allocation metatask from the initial metatask list if the load shutdown time corresponding to the allocation metatask is not earlier than the task deadline of the allocation metatask. The third deletion submodule is used to delete the allocation meta-task from the initial meta-task list when the payload shutdown time corresponding to the allocation meta-task is earlier than the task deadline time of the allocation meta-task, and the interval between the payload startup time corresponding to the allocation meta-task and the payload shutdown time corresponding to the previous meta-task is greater than or equal to the satellite adjustment interval time. The fourth deletion submodule is used to remove meta-tasks that do not meet the satellite energy constraints from the initial meta-task list after deletion, so as to obtain the final task list of the satellite.

[0184] In one alternative implementation, each meta-task further includes a priority; the first deletion submodule includes: The first deletion unit is used to traverse all the meta-tasks assigned to each satellite in descending order of meta-task priority. The second deletion unit is used to determine the payload startup time corresponding to the first meta-task based on the task start time of the first meta-task and the satellite adjustment interval time. The third deletion unit is used to determine the load shutdown time corresponding to the first meta-task by adding the task execution time of the first meta-task to the load startup time corresponding to the first meta-task. The fourth deletion unit is used to determine the payload startup time of the currently traversed non-first meta-task by taking the larger of the payload shutdown time of the previous meta-task and the task start time of the currently traversed non-first meta-task as the basis, and adding the satellite adjustment interval time. The fifth deletion unit is used to determine the load shutdown time of the currently traversed non-first meta-task by adding the task execution time of the currently traversed non-first meta-task to the load startup time of the load corresponding to ...

[0185] In one alternative implementation, each meta-task further includes a priority; the fourth deletion submodule includes: The first deletion unit is used to traverse the initial meta-task list after deletion in descending order of meta-task priority, and accumulate the total execution time of all currently traversed meta-tasks. The second deletion unit is used to add the currently traversed meta-task to the satellite's final task list and continue traversing the next meta-task, provided that the total execution time does not exceed the maximum working time within the satellite's single orbit cycle. The third deletion unit is used to delete the currently traversed meta-task from the satellite's initial task list when the total execution time exceeds the maximum working time within the satellite's single orbit cycle, and continue traversing the next meta-task until the deleted initial meta-task list has been traversed to obtain the satellite's final task list.

[0186] In one optional embodiment, the device further includes: The first generation module is used to generate a corresponding payload power-on / off action sequence for each satellite based on the satellite's final mission list. The payload power-on / off action sequence includes the payload power-on time and payload power-off time corresponding to each meta-mission. The second generation module is used to generate the corresponding pendulum angle measurement maneuver sequence based on the satellite's payload power-on / off action sequence; The execution module is used to execute the corresponding final task list through the satellite according to the payload power-on / off action sequence of the satellite.

[0187] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, apparatus, electronic devices, and storage media. Therefore, embodiments of the present invention can take the form of entirely hardware embodiments, entirely software embodiments, or embodiments combining software and hardware aspects. Furthermore, embodiments of the present invention can take the form of a computer program product embodied on one or more computer-readable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0188] Embodiments of the present invention are described with reference to flowchart illustrations and / or block diagrams of methods and apparatus according to embodiments of the present invention. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, generate instructions for implementing the flowchart illustrations. Figure 1 One or more processes and / or boxes Figure 1 The computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing terminal device to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The functions specified in one or more boxes. These computer program instructions may also be loaded onto a computer or other programmable data processing terminal equipment to cause a series of operational steps to be performed on the computer or other programmable terminal equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable terminal equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0189] Although preferred embodiments of the present invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the present invention.

[0190] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the term "comprising" or any other variations thereof is intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes said element.

[0191] The above provides a detailed description of a satellite observation mission planning method and apparatus based on meta-tasks provided by the present invention. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A satellite observation mission planning method based on meta-tasks, characterized in that, The method includes: Routine observation needs and emergency observation needs are uniformly decomposed into corresponding meta-tasks. Each meta-task is the smallest action unit from satellite payload power-on to payload power-off. Each meta-task includes at least the mission payload type, mission start time, and mission end time. Calculate the visible time window between each satellite in the constellation and each meta-task, where the visible time window is the period during which the corresponding satellite can observe the corresponding meta-task within the mission cycle; Based on the visible time window, each meta-task is assigned to a satellite that matches the mission payload type of that meta-task, resulting in an initial meta-task list for each satellite. Remove any meta-tasks from the initial meta-task list of each satellite that do not meet the satellite's mission time constraints and / or satellite energy constraints to obtain the satellite's final mission list.

2. The method according to claim 1, characterized in that, The requirements for routine and emergency observations are uniformly decomposed into corresponding meta-tasks, including: Based on the observation frequency and task cycle of the routine observation requirements, the total number of meta-tasks corresponding to each routine observation requirement is determined, and based on the total number of meta-tasks, the observation frequency, and the task cycle, the task start time and task end time of each of the multiple meta-tasks corresponding to the routine observation requirements are determined. The start time of the emergency observation requirement is determined as the task start time of the corresponding meta-task, and the end time of the emergency observation requirement is determined as the task end time of the corresponding meta-task.

3. The method according to claim 1, characterized in that, Calculate the visible time window between each satellite in the constellation and each of the meta-tasks, including: Iterate through all meta-tasks and all satellites in the constellation, calculate the visible time window between each satellite and each meta-task, and obtain a list of visible time windows between each satellite and each meta-task; Based on the list of visible time windows between each satellite and each meta-task, a dictionary of visible time windows is constructed with satellite codes as the horizontal axis and meta-task codes as the vertical axis. Each element in the dictionary of visible time windows represents the list of visible time windows between the corresponding satellite and the corresponding meta-task.

4. The method according to claim 3, characterized in that, Based on the visible time window, each meta-task is assigned to a satellite that matches the payload type of that meta-task, including: For each meta-task, all satellites whose visible time window contains the start and end times of the meta-task are identified as the first candidate satellite set corresponding to the meta-task. In the first candidate satellite set corresponding to the meta-mission, all satellites that match the payload type of the meta-mission are identified as the second candidate satellite set corresponding to the meta-mission. Assign the meta-task to a satellite in the second candidate satellite set corresponding to the meta-task.

5. The method according to claim 4, characterized in that, Each meta-task also includes a priority; the meta-task is assigned to satellites in the second candidate satellite set corresponding to that meta-task, including: A redundancy allocation algorithm is used to determine the number of satellites n to be allocated to each of the meta-tasks, where n is an integer greater than 1; With the goal of maximizing the priority of all meta-tasks assigned to the selected satellite, n satellites are selected from the second candidate satellite set corresponding to the meta-task, and the meta-task is assigned to the selected n satellites.

6. The method according to claim 1, characterized in that, Remove any meta-tasks from the initial meta-task list of each satellite that do not meet the satellite's mission time constraints and / or satellite energy constraints, resulting in the satellite's final mission list, which includes: Calculate the load power-on time and load power-off time for each assigned meta-task in the initial meta-task list; If the load shutdown time corresponding to the allocated meta-task is not earlier than the task deadline of the allocated meta-task, the allocated meta-task will be deleted from the initial meta-task list. If the payload shutdown time corresponding to the allocated meta-task is earlier than the task deadline of the allocated meta-task, and the interval between the payload startup time corresponding to the allocated meta-task and the payload shutdown time corresponding to the previous meta-task is greater than or equal to the satellite adjustment interval time, the allocated meta-task will be deleted from the initial meta-task list. From the initial list of meta-tasks after deletion, remove meta-tasks that do not meet the satellite's energy constraints to obtain the final list of tasks for the satellite.

7. The method according to claim 6, characterized in that, Each meta-task also includes a priority; calculating the load power-on time and load power-off time corresponding to each assigned meta-task in the meta-task list includes: For each satellite, all meta-tasks assigned to that satellite are traversed in descending order of meta-task priority. For the first meta-task encountered, the payload activation time corresponding to the first meta-task is determined based on the task start time of the first meta-task and the satellite adjustment interval time. Based on the payload startup time corresponding to the first meta-task, the task execution duration of the first meta-task is added to determine the payload shutdown time corresponding to the first meta-task. For each non-first metatask encountered, the payload startup time corresponding to the current non-first metatask is determined by adding the satellite adjustment interval time to the larger of the payload shutdown time of the previous metatask and the task start time of the current non-first metatask encountered. Based on the load startup time of the currently traversed non-first meta-task, the task execution duration of the currently traversed non-first meta-task is added to determine the load shutdown time of the currently traversed non-first meta-task.

8. The method according to claim 6, characterized in that, Each meta-task also includes a priority; from the initial meta-task list after deletion, meta-tasks that do not meet the satellite's energy constraints are removed to obtain the satellite's final task list, which includes: According to the priority of the meta-tasks from high to low, traverse the initial list of meta-tasks after deletion, and accumulate the total execution time of all meta-tasks that have been traversed. If the total execution time does not exceed the maximum working time within a single orbital cycle of the satellite, the currently traversed meta-task is added to the satellite's final task list, and the traversal of the next meta-task continues. If the total execution time exceeds the maximum working time within a single orbital period of the satellite, the currently traversed meta-task is deleted from the satellite's initial task list, and the process continues to traverse the next meta-task until the deleted initial meta-task list is traversed, thus obtaining the satellite's final task list.

9. The method according to claim 1, characterized in that, After obtaining the final mission list for the satellite, the method further includes: For each satellite, a corresponding payload power-on / off sequence is generated based on the satellite's final mission list. The payload power-on / off sequence includes the payload power-on time and payload power-off time corresponding to each meta-mission. Based on the satellite's payload power-on / off sequence, a corresponding pendulum angle measurement maneuver sequence is generated; Based on the satellite's payload power-on / off sequence and the corresponding final task list, the satellite executes the task list.

10. A satellite observation mission planning device based on meta-mission, characterized in that, The device includes: The decomposition module is used to decompose routine observation needs and emergency observation needs into corresponding meta-tasks. The meta-task is the smallest action unit for satellite to perform from payload power-on to payload power-off. Each meta-task includes at least the mission payload type, mission start time and mission end time. The calculation module is used to calculate the visible time window between each satellite in the constellation and each meta-task, wherein the visible time window is the period during which the corresponding satellite can observe the corresponding meta-task within the mission cycle; The allocation module is used to allocate each metatask to a satellite that matches the mission payload type of the metatask based on the visible time window, thereby obtaining an initial metatask list for each satellite. The deletion module is used to delete meta-tasks from the initial meta-task list of each satellite that do not meet the satellite's mission time constraints and / or satellite energy constraints, thus obtaining the satellite's final mission list.

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