技术领域Technical Field
本发明涉及航天技术、任务规划技术领域，尤其涉及星座协同任务规划和卫星自主任务规划应用领域。The present invention relates to the fields of aerospace technology and mission planning technology, and in particular to the application fields of constellation collaborative mission planning and satellite autonomous mission planning.
背景技术Background Art
目前卫星任务规划以地面规划、集中管控为主，即地面完成星座和卫星的任务规划、冲突消解，生成任务指令，上注至卫星后定时直接执行。少数卫星具备单星任务规划能力，可通过地面上注任务需求，分解生成任务指令。At present, satellite mission planning is mainly based on ground planning and centralized control, that is, the ground completes the mission planning and conflict resolution of constellations and satellites, generates mission instructions, and directly executes them after being uploaded to the satellites. A few satellites have the ability to plan single-star missions, and can decompose and generate mission instructions by uploading mission requirements on the ground.
随着卫星应用业务需求和卫星能力的不断提升，卫星越来越向集成化、多任务和星座化发展。典型的有Sartlink星座、OneWeb星座、Planet星座等。随着卫星数量的增多，传统以地面规划、集中管控方式开展任务的运维成本越来越高，同时星载处理能力的提升和任务时效性需求的增加，更需要卫星具备在轨自主任务管理能力。此外，遥感星座、通信星座的多星协同任务需求愈来愈强烈。如通过遥感星座多星协同提升对某区域重访能力提升、通过在轨自主规划提升SAR卫星在能源约束下的任务效益等。With the continuous improvement of satellite application business needs and satellite capabilities, satellites are increasingly developing towards integration, multi-tasking and constellation. Typical examples include the Sartlink constellation, OneWeb constellation, Planet constellation, etc. With the increase in the number of satellites, the operation and maintenance costs of traditional ground-based planning and centralized control are becoming increasingly high. At the same time, the improvement of onboard processing capabilities and the increase in mission timeliness requirements require satellites to have on-orbit autonomous mission management capabilities. In addition, the demand for multi-satellite collaborative tasks in remote sensing constellations and communication constellations is becoming increasingly strong. For example, the ability to revisit a certain area can be improved through the collaboration of multiple satellites in remote sensing constellations, and the mission benefits of SAR satellites under energy constraints can be improved through autonomous on-orbit planning.
发明内容Summary of the invention
为了克服上述技术缺陷，本发明的第一个方面提供一种星载分布式星座协同自主任务规划系统，其包括：In order to overcome the above technical defects, the first aspect of the present invention provides a satellite-borne distributed constellation collaborative autonomous task planning system, which includes:
协同规划单元，所述协同规划单元包括任务需求解析模块、任务规划求解模块和调度方案生成模块，所述任务需求解析模块用于接收外部任务，解析任务需求，并确认任务类型，所述任务规划求解模块用于根据任务需求解析结果，依据效益最大化和任务优先级进行多星任务分配和冲突消解，所述调度方案生成模块用于根据任务规划求解结果，生成每个参与任务卫星的任务调度方案，所述任务调度方案包括任务发出时间、任务类型、任务载荷、任务弧段、任务对象、任务开始时间、任务结束时间、任务信息；A collaborative planning unit, the collaborative planning unit includes a task requirement parsing module, a task planning solution module and a scheduling scheme generation module, the task requirement parsing module is used to receive external tasks, parse task requirements, and confirm task types, the task planning solution module is used to perform multi-satellite task allocation and conflict resolution based on the task requirement analysis results, benefit maximization and task priority, and the scheduling scheme generation module is used to generate a task scheduling scheme for each satellite participating in the mission based on the task planning solution results, and the task scheduling scheme includes task issuance time, task type, task payload, task arc, task object, task start time, task end time, and task information;
单星规划单元，所述单星规划单元包括调度方案解析模块和任务模板生成模块，所述调度方案解析模块用于接收并解析任务调度方案，进行任务可行性判断，所述任务模板生成模块用于根据任务调度方案解析结果，匹配星上任务模板，生成任务模板指令；A single-star planning unit, the single-star planning unit includes a scheduling solution parsing module and a task template generating module, the scheduling solution parsing module is used to receive and parse the task scheduling solution and make a task feasibility judgment, and the task template generating module is used to match the on-board task template according to the task scheduling solution parsing result and generate the task template instruction;
任务执行单元，所述任务执行单元包括任务模板解析模块、控制指令输出模块和任务状态采集模块，所述任务模板解析模块用于接收任务模板指令，并根据任务模板指令生成卫星可执行的指令链，所述控制指令输出模块用于根据指令链和星上时间直接输出星上单机的控制指令，所述任务状态采集模块用于获取星上执行任务单机的工作状态信息。The task execution unit includes a task template parsing module, a control instruction output module and a task status acquisition module. The task template parsing module is used to receive task template instructions and generate a satellite executable instruction chain according to the task template instructions. The control instruction output module is used to directly output the control instructions of the on-board single machine according to the instruction chain and the on-board time. The task status acquisition module is used to obtain the working status information of the on-board single machine that executes the task.
进一步地，协同规划单元进一步包括多星任务监测模块，所述多星任务监测模块用于当在调度方案生成后的执行任务卫星应答信息异常时，调用任务规划求解模块和调度方案生成模块重新生成任务或终止任务。Furthermore, the collaborative planning unit further includes a multi-satellite task monitoring module, which is used to call the task planning solution module and the scheduling plan generation module to regenerate the task or terminate the task when the response information of the satellite executing the task is abnormal after the scheduling plan is generated.
进一步地，单星规划单元进一步包括任务进程监测模块，所述任务进程监测模块用于根据任务执行单元返回的任务单机遥测状态，判读任务进程是否正常，在异常情况下重新本星任务规划或中止任务，同时向协同规划单元反馈应答状态。Furthermore, the single-satellite planning unit further includes a mission progress monitoring module, which is used to determine whether the mission progress is normal based on the mission single-machine telemetry status returned by the mission execution unit, and to re-plan the mission of the satellite or terminate the mission under abnormal circumstances, and at the same time feedback the response status to the collaborative planning unit.
进一步地，任务执行单元进一步包括卫星状态监测模块，所述卫星状态监测模块用于根据卫星和单机的安全判断条件，当安全判断条件不符合继续执行任务时，自动触发结束任务指令流程。Furthermore, the task execution unit further includes a satellite status monitoring module, which is used to automatically trigger the task end instruction process based on the safety judgment conditions of the satellite and the single machine when the safety judgment conditions are not met to continue to execute the task.
本发明的第二个方面提供一种星载分布式星座协同自主任务规划方法，其包括：步骤S1-步骤S3，A second aspect of the present invention provides a method for spaceborne distributed constellation collaborative autonomous mission planning, which includes: steps S1 to S3,
步骤S1包括步骤S1.1-步骤S1.3：Step S1 includes steps S1.1 to S1.3:
步骤S1.1：接收外部任务，解析任务需求，并确认任务类型；Step S1.1: Receive external tasks, analyze task requirements, and confirm task types;
步骤S1.2：根据任务需求解析结果，依据效益最大化和任务优先级进行多星任务分配和冲突消解；Step S1.2: Based on the analysis results of the mission requirements, multi-satellite mission allocation and conflict resolution are carried out according to benefit maximization and mission priority;
步骤S1.3：根据任务规划求解结果，生成每个参与任务卫星的任务调度方案，所述任务调度方案包括任务发出时间、任务类型、任务载荷、任务弧段、任务对象、任务开始时间、任务结束时间、任务信息；Step S1.3: Generate a task scheduling plan for each satellite participating in the task according to the task planning solution, wherein the task scheduling plan includes task issuance time, task type, task payload, task arc, task object, task start time, task end time, and task information;
步骤S2包括步骤S2.1-步骤S2.2：Step S2 includes steps S2.1 to S2.2:
步骤S2.1：接收并解析任务调度方案，进行任务可行性判断；Step S2.1: Receive and analyze the task scheduling plan and make task feasibility judgment;
步骤S2.2：根据任务调度方案解析结果，匹配星上任务模板，生成任务模板指令；Step S2.2: According to the analysis result of the task scheduling plan, match the on-board task template and generate the task template instruction;
步骤S3包括步骤S3.1-步骤S3.3：Step S3 includes steps S3.1 to S3.3:
步骤S3.1：接收任务模板指令，并根据任务模板指令生成卫星可执行的指令链；Step S3.1: receiving a mission template instruction, and generating a satellite executable instruction chain according to the mission template instruction;
步骤S3.2：根据指令链和星上时间直接输出星上单机的控制指令；Step S3.2: directly outputting the control command of the onboard single machine according to the command chain and the onboard time;
步骤S3.3：获取星上执行任务单机的工作状态信息。Step S3.3: Obtain the working status information of the single machine performing the mission on the satellite.
进一步地，步骤S1进一步包括：步骤S1.4：当在调度方案生成后的执行任务卫星应答信息异常时，重新生成任务或终止任务。Furthermore, step S1 further includes: step S1.4: when the satellite response information of the executing task after the scheduling plan is generated is abnormal, regenerate the task or terminate the task.
进一步地，步骤S2进一步包括：步骤S2.3：根据任务单机遥测状态，判读任务进程是否正常，在异常情况下重新本星任务规划或中止任务，同时反馈应答状态。Furthermore, step S2 further includes: step S2.3: judging whether the mission process is normal according to the telemetry status of the mission unit, re-planning the mission of the satellite or terminating the mission under abnormal circumstances, and feeding back the response status at the same time.
进一步地，步骤S3进一步包括：步骤S3.4：根据卫星和单机的安全判断条件，当安全判断条件不符合继续执行任务时，自动触发结束任务指令流程。Furthermore, step S3 further includes: step S3.4: according to the safety judgment conditions of the satellite and the single machine, when the safety judgment conditions are not met to continue the mission, the end mission instruction process is automatically triggered.
采用了上述技术方案后，与现有技术相比，具有以下有益效果：Compared with the prior art, the above technical solution has the following beneficial effects:
本发明公开了一种星载分布式星座协同自主任务规划系统及方法，包括任务规划框架和任务规划数据协议，其中任务规划框架包含协同规划单元、单星规划单元和任务执行单元。在星座协同任务场景下，本发明基于目前卫星常用星载任务处理设计情况，采用分布式规划框架，对多星规划、单星调度和任务执行进行三者之间的分工、接口和数据协议约定，基于相同框架，仅需要通过修改该框架下的规划算法，就可适用于不同类型的星座任务。通过裁剪框架内规划模块(例如，当采用地面监测时，可删除框架内的多星任务监测模块、任务进程监测模块和卫星状态监测模块)，可适用于不同类型卫星任务，具有广泛的星载自主任务规划适用性。The present invention discloses a satellite-borne distributed constellation collaborative autonomous task planning system and method, including a task planning framework and a task planning data protocol, wherein the task planning framework includes a collaborative planning unit, a single-satellite planning unit and a task execution unit. In the scenario of constellation collaborative tasks, the present invention is based on the current satellite commonly used satellite-borne task processing design, adopts a distributed planning framework, divides the work, interfaces and data protocol agreements among multi-satellite planning, single-satellite scheduling and task execution, and is based on the same framework. It only needs to modify the planning algorithm under the framework to be applicable to different types of constellation tasks. By cutting the planning modules in the framework (for example, when ground monitoring is adopted, the multi-satellite task monitoring module, the task progress monitoring module and the satellite status monitoring module in the framework can be deleted), it can be applicable to different types of satellite tasks, and has a wide range of applicability of satellite-borne autonomous task planning.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
图1为星载分布式星座协同自主任务规划系统的模块结构图；Figure 1 is a module structure diagram of the spaceborne distributed constellation collaborative autonomous mission planning system;
图2为星载分布式星座协同自主任务规划方法的流程图；FIG2 is a flow chart of a method for collaborative autonomous mission planning of a spaceborne distributed constellation;
图3为协同规划单元、单星规划单元和任务执行单元之间的数据接口格式。Figure 3 shows the data interface format between the collaborative planning unit, the single-satellite planning unit and the mission execution unit.
具体实施方式DETAILED DESCRIPTION
以下结合附图与具体实施例进一步阐述本发明的优点。本领域技术人员应当理解，下面所具体描述的内容是说明性的而非限制性的，不应以此限制本发明的保护范围。The advantages of the present invention are further described below in conjunction with the accompanying drawings and specific embodiments. Those skilled in the art should understand that the following specific description is illustrative rather than restrictive, and should not be used to limit the scope of protection of the present invention.
如图1所示，本实施例提供一种星载分布式星座协同自主任务规划系统包括：协同规划单元、单星规划单元、任务执行单元。任务规划框架包括：协同规划单元、单星规划单元、任务执行单元。任务规划数据协议：协同规划单元生成调度方案并发送给单星规划单元，单星规划单元生成任务模板指令并发送给任务执行单元，任务执行单元生成控制指令并发送给卫星的星上单机或载荷，任务执行单元根据接收到的卫星的星上单机或载荷的响应指令生成任务状态遥测帧，并发送给单星规划单元，单星规划单元生成任务应答信息并发送给协同规划单元。As shown in FIG1 , this embodiment provides a satellite-borne distributed constellation collaborative autonomous mission planning system including: a collaborative planning unit, a single satellite planning unit, and a mission execution unit. The mission planning framework includes: a collaborative planning unit, a single satellite planning unit, and a mission execution unit. Mission planning data protocol: the collaborative planning unit generates a scheduling plan and sends it to the single satellite planning unit, the single satellite planning unit generates a mission template instruction and sends it to the mission execution unit, the mission execution unit generates a control instruction and sends it to the satellite's on-board single machine or payload, the mission execution unit generates a mission status telemetry frame according to the response instruction received from the satellite's on-board single machine or payload, and sends it to the single satellite planning unit, the single satellite planning unit generates mission response information and sends it to the collaborative planning unit.
如图2所示，三个单元之间功能和实现方式如下。As shown in Figure 2, the functions and implementation methods of the three units are as follows.
1、协同规划单元：根据外部输入需求，根据星座卫星状态，完成任务分配和冲突消解，生成任务调度方案，当任务执行异常时，重新规划任务或终止任务；同时协同规划算法复杂，需要以独立的处理器运算。1. Collaborative planning unit: Based on external input requirements and the status of constellation satellites, it completes task allocation and conflict resolution, generates task scheduling plans, and replans or terminates tasks when task execution is abnormal. At the same time, the collaborative planning algorithm is complex and requires independent processor operation.
2、单星规划单元：接收任务调度方案，完成单星级任务规划，生成任务模板指令，根据卫星工作模式和载荷任务复杂度的不同，单行规划方法计算量也不同，可在独立器件内运算，也可与其它算法一同运行。2. Single-star planning unit: Receives mission scheduling plans, completes single-star mission planning, and generates mission template instructions. Depending on the satellite working mode and the complexity of the payload mission, the calculation amount of the single-line planning method is also different. It can be operated in an independent device or run together with other algorithms.
3、任务执行单元：接收任务模板指令，匹配任务模板，完成单机OC/数据指令输出控制以及单机数据/模拟状态采集；任务模板可通过地面指令上注。其软件逻辑较为简单，可集成在传统星务计算机内实现。3. Mission execution unit: receives mission template instructions, matches mission templates, completes single-machine OC/data instruction output control and single-machine data/simulation status acquisition; mission templates can be uploaded through ground instructions. Its software logic is relatively simple and can be integrated into traditional satellite computers.
下面以采用对地观测方式为例，如图3所示，采用上述星载分布式星座协同自主任务规划系统进行星载分布式星座协同自主任务规划方法包括步骤S1-步骤S3。Taking the earth observation method as an example, as shown in FIG3 , the method for performing satellite-borne distributed constellation collaborative autonomous task planning using the above-mentioned satellite-borne distributed constellation collaborative autonomous task planning system includes steps S1 to S3.
步骤S1包括步骤S1.1-步骤S1.3：Step S1 includes steps S1.1 to S1.3:
步骤S1.1：任务需求解析模块接收外部任务，解析任务需求，并确认任务类型；Step S1.1: The task requirement parsing module receives external tasks, parses task requirements, and confirms the task type;
任务需求解析模块接收外部任务需求生成多星协同任务方案，确认任务类型；全文以Walker 24/6/3对地遥感星座为例，任务需求为地面上注地面点坐标和观测时段(上海经度/纬度、上午9：00-10：00)，任务需求解析模块根据需求产生任务类型为星座对地任务。The task requirement analysis module receives external task requirements to generate a multi-satellite collaborative task plan and confirm the task type. The full text takes the Walker 24/6/3 earth remote sensing constellation as an example. The task requirements are the coordinates of the ground point and the observation period (Shanghai longitude/latitude, 9:00-10:00 am) on the ground. The task requirement analysis module generates the task type as a constellation-to-earth task based on the requirements.
步骤S1.2：任务规划求解模块根据任务需求解析结果，依据效益最大化和任务优先级进行多星任务分配和冲突消解；Step S1.2: The mission planning solution module performs multi-satellite mission allocation and conflict resolution based on the mission requirement analysis results, benefit maximization and mission priority;
任务规划求解模块根据任务需求解析结果，进行多星任务分配和冲突消解，即根据任务需求，生成参与任务执行的卫星，星座涵盖多个并发任务，执行任务资源卫星可能出现冲突，在该模块通过效益最大化进行求解。以对上海遥感为例，求解模块对星座内卫星与上海在上午9：00-10：00时间段内进行可见性分析，筛选可见卫星。对可见卫星按照观测时间先后进行排序，同一时段有多颗卫星可观测时，根据观测仰角，仰角越高，效益越大，优选高仰角、长观测弧段卫星。若该卫星已执行其它任务，根据任务优先级进行冲突消解，单颗卫星优先执行高优先级任务。The task planning solution module performs multi-satellite task allocation and conflict resolution based on the results of task requirement analysis. That is, according to the task requirements, it generates satellites participating in the task execution. The constellation covers multiple concurrent tasks, and there may be conflicts in the resource satellites that execute the tasks. In this module, the solution is solved by maximizing the benefits. Taking Shanghai remote sensing as an example, the solution module performs visibility analysis between the satellites in the constellation and Shanghai during the period of 9:00-10:00 in the morning, and screens visible satellites. The visible satellites are sorted according to the observation time. When there are multiple satellites that can be observed in the same period, according to the observation elevation angle, the higher the elevation angle, the greater the benefit, and satellites with high elevation angles and long observation arcs are preferred. If the satellite has performed other tasks, the conflict is resolved according to the task priority, and a single satellite gives priority to high-priority tasks.
步骤S1.3：调度方案生成模块根据任务规划求解结果，生成每个参与任务卫星的任务调度方案；Step S1.3: The scheduling plan generation module generates a task scheduling plan for each satellite participating in the mission according to the task planning solution result;
任务调度方案包括任务发出时间、任务类型、任务载荷、任务弧段、任务对象、任务开始时间、任务结束时间、任务信息等信息。格式如下表1：The task scheduling plan includes task issuance time, task type, task load, task arc, task object, task start time, task end time, task information, etc. The format is as follows Table 1:
表1任务调度方案的数据格式Table 1 Data format of task scheduling scheme
步骤S1.4：多星任务监测模块当在调度方案生成后的执行任务卫星应答信息异常时，调用任务规划求解模块和调度方案生成模块重新生成任务或终止任务。Step S1.4: When the multi-satellite mission monitoring module receives abnormal response information from the mission executing satellite after the scheduling plan is generated, the mission planning solution module and the scheduling plan generation module are called to regenerate the mission or terminate the mission.
调度方案生成后需等待执行任务卫星应答，应答数据格式如下表2。卫星接收到任务调度方案后，应每秒返回应答信息。若应答信息异常，需调用任务规划求解模块、调度方案生成模块重新生成任务。After the scheduling plan is generated, it is necessary to wait for the satellite to respond to the task. The response data format is shown in Table 2. After the satellite receives the task scheduling plan, it should return the response information every second. If the response information is abnormal, it is necessary to call the task planning solution module and the scheduling plan generation module to regenerate the task.
表2应答信息的数据格式Table 2 Data format of response information
步骤S2包括步骤S2.1-步骤S2.2：Step S2 includes steps S2.1 to S2.2:
步骤S2.1：调度方案解析模块接收并解析任务调度方案，进行任务可行性判断；Step S2.1: The scheduling solution parsing module receives and parses the task scheduling solution and makes a task feasibility judgment;
调度方案解析，接收任务调度方案后，进行任务可行性判断，返回应答信息，可行性判断需根据每颗卫星的特点进行判断，以上海观测为例，可行性判断包括可见性复核确认、观测时间复核，任务载荷可行性复核，任务载荷参数计算等。Scheduling plan analysis: After receiving the task scheduling plan, the feasibility of the task is judged and the response information is returned. The feasibility judgment needs to be made based on the characteristics of each satellite. Taking the Shanghai observation as an example, the feasibility judgment includes visibility review and confirmation, observation time review, mission payload feasibility review, and mission payload parameter calculation.
步骤S2.2：任务模板生成模块根据任务调度方案解析结果，匹配星上任务模板，生成任务模板指令；Step S2.2: The task template generation module matches the on-board task template according to the task scheduling solution analysis result and generates the task template instruction;
任务模板生成，根据任务调度方案解析结果，匹配星上任务模板，生成任务模板指令。任务模板指令格式如下表3：Task template generation: According to the task scheduling solution analysis results, match the on-board task template and generate task template instructions. The task template instruction format is as shown in Table 3:
表3任务模板指令格式Table 3 Task template instruction format
步骤S2.3：任务进程监测模块根据任务执行单元返回的任务单机遥测状态，判读任务进程是否正常，在异常情况下重新本星任务规划或中止任务，同时向协同规划单元反馈应答状态。Step S2.3: The mission progress monitoring module determines whether the mission progress is normal based on the mission stand-alone telemetry status returned by the mission execution unit. In case of abnormality, it re-plans the mission on the local satellite or terminates the mission, and at the same time feeds back the response status to the collaborative planning unit.
任务进程监测，根据任务执行单元返回的任务单机遥测状态，判读任务进程是否正常，异常情况下重新本星任务规划或中止任务，同时向协调规划单元反馈应答状态。Mission progress monitoring: Based on the telemetry status of the mission unit returned by the mission execution unit, it is determined whether the mission progress is normal. In the event of an abnormality, the mission will be re-planned or terminated, and the response status will be fed back to the coordination and planning unit.
步骤S3包括步骤S3.1-步骤S3.3：Step S3 includes steps S3.1 to S3.3:
步骤S3.1：任务模板解析模块接收任务模板指令，并根据任务模板指令生成卫星可执行的指令链；Step S3.1: The mission template parsing module receives the mission template instructions and generates a satellite executable instruction chain according to the mission template instructions;
任务模板解析，接收规划单元任务模板指令，匹配任务执行单元内存储的任务指令模板序列，根据任务模板指令内执行时间和模板参数，生成卫星可执行的指令链(参见下表4)。计算方法为：任务模板指令中执行时间为T0，模板ID为ID0；检索任务序列模板ID中的模板ID，第一条指令执行时间为T0，第二条指令执行时间为t2-t1+T0，依次类推。Mission template parsing, receiving the mission template instructions of the planning unit, matching the mission instruction template sequence stored in the mission execution unit, and generating the satellite executable instruction chain according to the execution time and template parameters in the mission template instructions (see Table 4 below). The calculation method is: the execution time in the mission template instruction is T0, and the template ID is ID0; retrieve the template ID in the mission sequence template ID, the execution time of the first instruction is T0, the execution time of the second instruction is t2-t1+T0, and so on.
表4指令链Table 4 Command chain
步骤S3.2：控制指令输出模块根据任务模板解析生成的指令链，根据星上时间直接输出星上单机的控制指令；Step S3.2: The control command output module directly outputs the control command of the on-board single machine according to the on-board time based on the command chain generated by parsing the task template;
步骤S3.3：任务状态采集模块获取星上执行任务单机的工作状态信息；Step S3.3: The task status acquisition module obtains the working status information of the single machine performing the task on the satellite;
任务状态采集，通过星上数据总线、模拟量采集等方式获取星上执行任务单机的工作状态信息；如卫星母线电压采集。Mission status collection: obtain the working status information of a single machine performing a mission on the satellite through the on-board data bus, analog quantity collection, etc.; such as satellite bus voltage collection.
步骤S3.4：卫星状态监测模块根据卫星和单机的安全判断条件，当安全判断条件不符合继续执行任务时，自动触发结束任务指令流程。Step S3.4: The satellite status monitoring module automatically triggers the end-mission instruction process based on the safety judgment conditions of the satellite and the stand-alone machine when the safety judgment conditions are not met to continue the mission.
星载任务规划包括星间协同规划、单星自主规划和任务执行三个层次。任务执行是传统卫星的任务开展形式，通过接收外部控制指令输入，星务计算机输出控制指令，卫星载荷直接执行任务，同时星务计算机可通过遥测采集监测星上运行状态。单行自主规划是通过卫星设计约束和地面上注任务需求，完成任务分解，生成任务指令。星间协同规划是根据星座任务需求，完成任务分配和冲突消解，生成单星任务需求。通过分布式星座协同自主任务规划框架设计，可明确各层级的分工，便于使用多类型、多形式的自主任务规划和执行。Onboard mission planning includes three levels: inter-satellite collaborative planning, single-satellite autonomous planning, and mission execution. Mission execution is the mission development form of traditional satellites. By receiving external control command input, the satellite computer outputs control commands, and the satellite payload directly executes the mission. At the same time, the satellite computer can monitor the operation status on the satellite through telemetry collection. Single-line autonomous planning is to complete task decomposition and generate task instructions through satellite design constraints and ground-based mission requirements. Inter-satellite collaborative planning is to complete task allocation and conflict resolution based on constellation mission requirements, and generate single-satellite mission requirements. Through the design of a distributed constellation collaborative autonomous mission planning framework, the division of labor at each level can be clarified, which is convenient for the use of multi-type and multi-form autonomous mission planning and execution.
应当注意的是，本发明的实施例有较佳的实施性，且并非对本发明作任何形式的限制，任何熟悉该领域的技术人员可能利用上述揭示的技术内容变更或修饰为等同的有效实施例，但凡未脱离本发明技术方案的内容，依据本发明的技术实质对以上实施例所作的任何修改或等同变化及修饰，均仍属于本发明技术方案的范围内。It should be noted that the embodiments of the present invention have better practicability and do not impose any form of limitation on the present invention. Any technician familiar with the field may use the technical content disclosed above to change or modify it into an equivalent effective embodiment. However, any modification or equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.
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