Abstract: In a heterogeneous satellite network integrating communication and remote sensing constellations, a dynamic target continuous tracking method is proposed. The cross-layer collaborative mission planning method considers satellite attitude adjustment time and laser link switching time, enabling the continuous observation of a dynamic target by multiple agile satellites and real-time data offloading from the sensing layer to the communication layer. A dynamic time and space sub-domain partitioning rolling algorithm is proposed, which can significantly accelerate solution speed. The simulation results show the mission planning time is less than 2 minutes in a scenario of 1 000 satellites, satisfying the timeliness requirements for high-dynamic missions.