According to the feature of emergency event, we analyze the needed sensor collaborative planning requirements. In this paper, we propose the integrated query method for space-and ground-based sensors, including the organization and indexing of the sensor information resources, calculation of space-based sensor earth observation coverage and metadata item designation oriented to emergency collaborative observation. Based on the Java program platform and SensorML information model, we finally design and implement the integrated query tool GeosensorQuery. A real agriculture-related application on the flood emergency observation in the middle reaches of Yangtze River basin of China is conducted. The results verify the feasibility of our system.