Agile satellite relay real transmission method and device based on attitude extrapolation and medium

Abstract

The invention relates to an agile satellite relay real transmission method and device based on attitude extrapolation and a medium. The method comprises the steps that S1, a servo controller receives a relay satellite orbit sent by a satellite platform and extrapolates the position and speed of a relay satellite; s2, receiving GPS broadcast data, and determining the position and speed of a satellite platform; s3, attitude broadcast data are received, and satellite platform attitude extrapolation is completed; and S4, the relay antenna is driven to track the relay satellite through coordinate conversion and antenna limiting judgment. According to the method, relay link resources can be effectively utilized, the data return efficiency can be improved, meanwhile, the agile satellite can realize multifunctional and fast-response imaging efficiency by utilizing fast maneuvering, and the timeliness of data acquisition can also be ensured.

Description

Technical Field

[0001] The present invention relates to the field of aerospace measurement and control planning, and in particular to an agile satellite relay transmission method, device and medium based on attitude extrapolation. Background Art

[0002] Agile satellites are a type of high-performance satellite that has developed rapidly in recent years at home and abroad. They not only demonstrate the advantages of small satellites, which are "fast, flexible and economical", but also achieve high spatial resolution imaging and fast system response performance by combining with high-resolution remote sensors and taking advantage of the agile attitude maneuvering performance of the whole satellite. They can also achieve multiple imaging modes including co-orbit multi-strip splicing imaging and co-orbit stereo imaging, and are multifunctional and efficient. High-resolution agile maneuverable small satellites have become one of the important development directions of satellite remote sensing systems.

[0003] An earth observation mission can be divided into two main parts: data collection and data transmission. Due to the limited territory of my country, most ground data receiving stations are located in China, and real-time data transmission can only be implemented within a limited range in China and neighboring countries. For areas outside the coverage of ground receiving stations, real-time data transmission cannot be implemented, and for satellite data outside the coverage of data receiving stations, the only way is to record on the satellite and then replay it. The time interval from implementing satellite observation to receiving and replaying data is as long as several hours, which greatly reduces the timeliness of observation data. Therefore, it is particularly important to use relay satellites to transmit earth observation data in real time. The high orbit coverage and high-speed data transmission capability of the relay satellite system effectively ensure the timely acquisition of information. For observation data obtained abroad, it can be transmitted back in real time and efficiently, thereby improving the timeliness of observation satellite data acquisition.

[0004] In the face of emergency observation tasks, the use of relay satellites to transmit remote sensing satellite image data in real time can effectively improve the timeliness of the task. Therefore, many types of domestic satellites have added relay data transmission equipment to achieve real-time data transmission through relay satellites. Mechanically movable spot beam high-gain relay antennas are adopted by many satellites because of their high cost performance. The servo controller drives the two-dimensional antenna mechanism to rotate around the satellite's X and Y axes within a certain range to complete the capture and tracking of the relay satellite. However, in real-time transmission mode, when an agile satellite performs multi-target or multi-strip missions, and the attitude angle switches from pointing to the end point of the previous target (strip one) to the starting point of the next target (strip two), the satellite performs large-angle rapid attitude maneuvers, which may cause the relay data transmission antenna to fail to rotate in time and the real-time transmission mode cannot be achieved.

[0005] Therefore, proposing an agile satellite relay real-time transmission method based on attitude extrapolation is an urgent problem to be solved. Summary of the invention

[0006] In order to solve the technical problems existing in the above-mentioned prior art, the purpose of the present invention is to provide an agile satellite relay transmission method, equipment and medium based on attitude extrapolation, so as to solve the problem that the relay antenna cannot be tracked throughout the entire process due to rapid attitude maneuvers during the execution of satellite imaging missions.

[0007] To achieve the above-mentioned object of the invention, the present invention provides an agile satellite relay real transmission method based on attitude extrapolation, comprising the following steps:

[0008] Step S1, the servo controller receives the relay satellite orbit sent by the satellite platform, and extrapolates the position and speed of the relay satellite;

[0009] Step S2, receiving GPS broadcast data to determine the position and speed of the satellite platform;

[0010] Step S3, receiving attitude broadcast data and completing satellite platform attitude extrapolation;

[0011] Step S4: drive the relay antenna to track the relay satellite through coordinate conversion and antenna limit judgment.

[0012] According to a technical solution of the present invention, it also includes:

[0013] Step S5: determine whether it is necessary to terminate the tracking;

[0014] If yes, stop; if no, return to step S2 to step S4.

[0015] According to a technical solution of the present invention, the step S1 specifically includes:

[0016] Step S11, before entering the relay tracking arc, start the servo controller, the servo controller is configured with a relay antenna pointing calculation program;

[0017] Step S12, receiving the relay satellite orbit by the servo controller;

[0018] Step S13: determine the position and speed of the relay satellite, thereby controlling the operation of the relay antenna along the X-axis and Y-axis to track the relay satellite.

[0019] According to a technical solution of the present invention, the step S2 specifically includes:

[0020] Step S21, receiving GPS broadcast data, wherein the GPS broadcast data is broadcast by a GPS receiver through a CAN bus and includes real-time position and speed information of a satellite platform in a WGS84 coordinate system;

[0021] Step S22, calculating the position and velocity of the satellite platform in the J2000 geocentric inertial system according to the GPS broadcast data, and predicting the position and velocity of the satellite platform at the next moment by Lagrange interpolation method;

[0022] Step S23: Calculate the position and velocity of the relay satellite in the geocentric inertial system of the J2000 satellite at the target time according to the number of elements of the initial orbit of the relay satellite injected.

[0023] According to a technical solution of the present invention, step S3 specifically includes:

[0024] Step S31, receiving attitude broadcast data, the attitude broadcast data is broadcasted by the control computer of the satellite platform through the CAN bus, and at least includes attitude broadcast time, attitude angle, and attitude angular velocity;

[0025] Step S32, parsing the attitude broadcasting time, attitude angle and attitude angular velocity based on the attitude broadcasting data;

[0026] Step S33: extrapolate the attitude angular velocity at a uniform speed to obtain attitude angle information at the next calculation pointing time, which is used for relay antenna pointing calculation.

[0027] According to a technical solution of the present invention, in step S4, calculating the relay antenna direction by coordinate transformation specifically includes:

[0028] According to the position and velocity of the satellite platform and relay satellite in the J2000 geocentric inertial system, the pointing vector of the satellite relative to the relay satellite is obtained and the pointing angle of the relay antenna is calculated in the manner of J2000 geocentric inertial system - satellite attitude reference coordinate system - satellite platform coordinate system - satellite antenna reference coordinate system - antenna coordinate system.

[0029] According to a technical solution of the present invention, in step S4, after obtaining the relay antenna pointing angle, determining the antenna limit judgment situation specifically includes:

[0030] Determine the limit angles of the X-axis and Y-axis of the relay antenna respectively. When the angle to be rotated is greater than the corresponding phase angle, control is performed according to the limit angle. Otherwise, the antenna is controlled according to the calculation result.

[0031] The limit angle includes a software limit angle and a hardware limit angle.

[0032] According to a technical solution of the present invention, in step S33, the satellite attitude angle and attitude angular velocity are linearly extrapolated at a uniform speed, that is, the attitude angle and the attitude angular velocity are added, which is expressed as:

[0033] Yaw angle ψ=ψ o +ψ v

[0034] Roll Angle

[0035] Pitch angle θ = θ o +θ v

[0036] Among them, ψ o , θ o is the broadcast attitude angle data, ψ v , θ v The broadcast attitude and velocity data.

[0037] According to one aspect of the present invention, an electronic device is proposed, comprising: one or more processors, one or more memories, and one or more computer programs; wherein the processor is connected to the memory, and the one or more computer programs are stored in the memory, and when the electronic device is running, the processor executes the one or more computer programs stored in the memory, so that the electronic device executes an agile satellite relay transmission method based on attitude extrapolation as described in any one of the above technical solutions.

[0038] According to one aspect of the present invention, a computer-readable storage medium is proposed for storing computer instructions. When the computer instructions are executed by a processor, an agile satellite relay transmission method based on attitude extrapolation as described in any one of the above technical solutions is implemented.

[0039] Compared with the prior art, the present invention has the following beneficial effects:

[0040] The present invention proposes an agile satellite relay transmission method, device and medium based on attitude extrapolation, which uses the attitude angular velocity information in the satellite attitude control broadcast data for extrapolation to obtain the attitude angle information of the next calculation pointing moment to perform antenna pointing calculation. It can solve the problem that the relay antenna cannot be tracked throughout the entire process due to rapid attitude maneuvers during the execution of multi-target observation tasks and multi-band observation tasks by agile satellites. The present invention has strong controllability and is easy to implement in engineering.

[0041] The present invention realizes relay transmission during the agile maneuvering process of the earth observation satellite, can effectively utilize relay link resources, and improves data return efficiency.

[0042] Based on the present invention, the agile satellite can not only realize multifunctional and fast-response imaging performance by rapid maneuvering, but also ensure the timeliness of data acquisition. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0044] Figure 1 A flowchart of a method for planning narrow-strip area mosaic observation of an agile imaging satellite provided in an implementation case of the present invention is schematically shown;

[0045] Figure 2 A schematic diagram schematically showing a servo controller controlling the rotation of a relay antenna in an embodiment of the present invention;

[0046] Figure 3 The flowchart of a method for planning narrow-strip area mosaic observation of an agile imaging satellite provided in another implementation example of the present invention is schematically shown. DETAILED DESCRIPTION

[0047] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0048] like Figures 1 to 3 As shown, an agile satellite relay transmission method based on attitude extrapolation of the present invention comprises the following steps:

[0049] Step S1, the servo controller receives the relay satellite orbit sent by the satellite platform, and extrapolates the position and speed of the relay satellite; the servo controller is a component of the relay data transmission subsystem, exchanges data information with the satellite platform's satellite computer through the CAN bus, receives and executes various instructions and broadcast data from the satellite computer, and drives the relay antenna to track the designated relay satellite by remote control;

[0050] Step S2, receiving GPS broadcast data to determine the position and speed of the satellite platform;

[0051] Step S3, receiving attitude broadcast data and completing satellite platform attitude extrapolation;

[0052] Step S4: drive the relay antenna to track the relay satellite through coordinate conversion and antenna limit judgment.

[0053] In some embodiments of the present invention, it further comprises:

[0054] Step S5, determining whether the tracking needs to be terminated, specifically, determining whether the relay tracking arc segment is stopped, if so, terminating the tracking, otherwise continuing the tracking;

[0055] If yes, stop; if no, return to step S2 to step S4. If it is determined to terminate the tracking, control the servo controller to shut down.

[0056] In some embodiments of the present invention, the step S1 specifically includes:

[0057] Step S11, before entering the relay tracking arc, start the servo controller, the servo controller is configured with a relay antenna pointing calculation program;

[0058] Step S12, receiving the relay satellite orbit by the servo controller;

[0059] Step S13: Determine the position and speed of the relay satellite through the circuit, thereby controlling the operation of the relay antenna along the X-axis and Y-axis to achieve tracking of the relay satellite.

[0060] In some embodiments of the present invention, the step S2 specifically includes:

[0061] Step S21, receiving GPS broadcast data, wherein the GPS broadcast data is broadcast by a GPS receiver through a CAN bus and includes real-time position and speed information of a satellite platform in a WGS84 coordinate system;

[0062] Step S22, calculating the position and velocity of the satellite platform in the J2000 geocentric inertial system according to the GPS broadcast data, and predicting the position and velocity of the satellite platform at the next moment by Lagrange interpolation method;

[0063] Step S23: Calculate the position and velocity of the relay satellite in the geocentric inertial system of the J2000 satellite at the target time according to the number of elements of the initial orbit of the relay satellite injected.

[0064] In some embodiments of the present invention, the step S3 specifically includes:

[0065] Step S31, receiving attitude broadcast data, the attitude broadcast data is broadcasted by the control computer of the satellite platform through the CAN bus, and at least includes attitude broadcast time, attitude angle, and attitude angular velocity;

[0066] Step S32, parsing the attitude broadcasting time, attitude angle and attitude angular velocity based on the attitude broadcasting data;

[0067] Step S33, the attitude angular velocity is extrapolated at a uniform speed to obtain the attitude angle information of the next calculation pointing time, which is used for the relay antenna pointing calculation. The satellite attitude angle and attitude angular velocity are linearly extrapolated at a uniform speed, that is, the attitude angle and the attitude angular velocity are added, which is expressed as:

[0068] Yaw angle ψ=ψ o +ψ v

[0069] Roll Angle

[0070] Pitch angle θ = θ o +θ v

[0071] Among them, ψ o , θ o is the broadcast attitude angle data, ψ v , θ v The broadcast attitude and velocity data.

[0072] The servo controller uses the satellite time broadcast as the unified time reference to calculate the relay antenna pointing direction of "current satellite time + 0.5s". The attitude control computer generates attitude broadcast data 8 times per second, and the extrapolated attitude has high accuracy.

[0073] In some embodiments of the present invention, in step S4, calculating the relay antenna orientation by coordinate transformation specifically includes:

[0074] According to the position and velocity of the satellite platform and relay satellite in the J2000 geocentric inertial system, the pointing vector of the satellite relative to the relay satellite is obtained and the pointing angle of the relay antenna is calculated in the manner of J2000 geocentric inertial system - satellite attitude reference coordinate system - satellite platform coordinate system - satellite antenna reference coordinate system - antenna coordinate system.

[0075] In the process of converting the satellite attitude reference coordinates to the satellite platform coordinate system, the satellite attitude information must be considered. The relay antenna is fixed to the satellite platform. When the satellite platform yaws, rolls, or pitches, it will affect the pointing direction of the antenna. Therefore, it is necessary to compensate for the changes in the pointing angle caused by the attitude changes.

[0076] For the conversion from the satellite attitude reference coordinate system (satellite orbit coordinate system) to the satellite platform coordinate system, the difference between the satellite attitude reference coordinate system and the satellite platform coordinate system is the attitude angle, where the yaw angle, roll angle, and pitch angle are defined as follows:

[0077] Yaw angle ψ→The angle between the projection of the satellite rolling axis x-axis and the local horizontal plane and the x-axis; (rotation around the z-axis)

[0078] Pitch angle θ→the angle between the satellite's rolling axis x-axis and its projection on the local horizontal plane; (rotation around the y-axis)

[0079] Roll Angle →The angle between the satellite pitch axis y and its projection on the local horizontal plane; (rotation around the x-axis)

[0080] The positive and negative yaw angles are defined as: looking from the positive direction of the Z axis toward the origin, counterclockwise is positive and clockwise is negative.

[0081] The positive and negative pitch angles are defined as: looking from the positive direction of the Y axis toward the origin, counterclockwise is positive and clockwise is negative.

[0082] The roll angle is defined as positive or negative, looking from the positive direction of the X-axis toward the origin, counterclockwise is positive and clockwise is negative.

[0083] In the attitude coordinate system: Assuming the attitude transformation order is 213, the attitude matrix is:

[0084]

[0085] Multiplying the attitude matrix in the satellite attitude coordinate system will give the satellite platform coordinate system. Then:

[0086]

[0087] That is, rotate the pitch angle θ around the Y axis, and then rotate the roll angle around the X axis Then rotate the yaw angle ψ around the Z axis.

[0088] Pointing vector in antenna reference coordinate system vector = antenna installation matrix × pointing vector in satellite platform coordinate system vector;

[0089] Assume that the position vector of the satellite in the satellite platform coordinate system is The position vector of the antenna in the reference coordinate system is Then we have:

[0090]

[0091] Where θ′ is the installation angle of the satellite relay terminal antenna.

[0092] Finally, calculate the antenna pointing angle: the position vector of the satellite in the antenna coordinate system is The pointing vector is Then we have:

[0093]

[0094] In the antenna reference coordinate system, based on

[0095]

[0096] Calculate the α angle of the antenna rotating around the X axis and the β angle of the antenna rotating around the Y axis. In the formula, x, y, and z are the position vectors in the antenna reference system, and α and β are the rotation angles of the relay terminal antenna around the X axis and the Y axis.

[0097] In some embodiments of the present invention, in step S4, after obtaining the relay antenna pointing angle, determining the antenna limit judgment situation specifically includes:

[0098] Determine the limit angles of the X-axis and Y-axis of the relay antenna respectively. When the angle to be rotated is greater than the corresponding phase angle, control is performed according to the limit angle. Otherwise, the antenna is controlled according to the calculation result.

[0099] The limit angle includes a software limit angle and a hardware limit angle.

[0100] Specifically, based on the calculation results, an angle of α is required to rotate around the X-axis and an angle of β is required to rotate around the Y-axis to complete the relay satellite tracking. The current angle at which the X-axis has rotated is αn, and the angle at which the Y-axis has rotated is βn. The limit angle of the X-axis is α0, and the limit angle of the Y-axis is β0. When αn+α<α0, the relay antenna is controlled according to the calculation results, otherwise it is controlled according to α0-αn; the same applies to the Y-axis.

[0101] According to one aspect of the present invention, an electronic device is provided, comprising: one or more processors, one or more memories, and one or more computer programs; wherein the processor is connected to the memory, and the one or more computer programs are stored in the memory, and when the electronic device is running, the processor executes the one or more computer programs stored in the memory, so that the electronic device executes an agile satellite relay transmission method based on attitude extrapolation as any one of the above technical solutions.

[0102] According to one aspect of the present invention, a computer-readable storage medium is provided for storing computer instructions. When the computer instructions are executed by a processor, an agile satellite relay transmission method based on attitude extrapolation as described in any one of the above technical solutions is implemented.

[0103] Computer-readable storage media may include any medium capable of storing or transmitting information. Examples of computer-readable storage media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, etc. Code segments may be downloaded via computer networks such as the Internet, intranets, etc.

[0104] The present invention discloses an agile satellite relay transmission method, device and medium based on attitude extrapolation, the method comprising: step S1, a servo controller receives the relay satellite orbit sent by the satellite platform, and extrapolates the position and speed of the relay satellite; step S2, receives GPS broadcast data, and determines the position and speed of the satellite platform; step S3, receives attitude broadcast data, and completes the satellite platform attitude extrapolation; step S4, drives the relay antenna to track the relay satellite through coordinate conversion and antenna limit judgment. The present invention uses the attitude angular velocity information in the satellite attitude control broadcast data for extrapolation, obtains the attitude angle information of the next calculation pointing moment, and performs antenna pointing calculation, which can solve the problem that the relay antenna cannot track the entire process due to the rapid attitude maneuvering during the agile satellite's execution of multi-target observation tasks and multi-strip observation tasks, and the present invention has strong controllability and is easy to implement in engineering.

[0105] The present invention realizes relay transmission during the agile maneuvering process of the earth observation satellite, can effectively utilize relay link resources, and improves data return efficiency.

[0106] Based on the present invention, the agile satellite can not only realize multifunctional and fast-response imaging performance by rapid maneuvering, but also ensure the timeliness of data acquisition.

[0107] In addition, it should be noted that the present invention can be provided as a method, an apparatus or a computer program product. Therefore, the embodiments of the present invention can take the form of a complete hardware embodiment, a complete software embodiment or an embodiment combining software and hardware. Moreover, the embodiments of the present invention can take the form of a computer program product implemented on one or more computer-usable storage media containing computer-usable program code.

[0108] The embodiments of the present invention are described with reference to the flowcharts and / or block diagrams of the methods, terminal devices (systems), and computer program products according to the embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, an embedded processor, or other programmable data processing terminal device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0109] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device, so that a series of operation steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable terminal device provide for implementing the process in the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0110] It should also be noted that, in this article, the terms "include", "comprises" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or terminal device. In the absence of further restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, article or terminal device including the elements.

[0111] Finally, it should be noted that the above is a preferred embodiment of the present invention. It should be pointed out that although the preferred embodiment of the present invention has been described, for those skilled in the art, once the basic creative concept of the present invention is known, several improvements and modifications can be made without departing from the principles of the present invention, and these improvements and modifications should also be regarded as the protection scope of the present invention. Therefore, the attached claims are intended to be interpreted as including the preferred embodiment and all changes and modifications that fall within the scope of the embodiments of the present invention.

Claims

1. An agile satellite relay transmission method based on attitude extrapolation, characterized in that: The following steps are involved: Step S1, the servo controller receives the relay satellite orbit sent by the satellite platform, and extrapolates the position and speed of the relay satellite; Step S2, receiving GPS broadcast data to determine the position and speed of the satellite platform; Step S3, receiving attitude broadcast data and completing satellite platform attitude extrapolation; Step S4: drive the relay antenna to track the relay satellite through coordinate conversion and antenna limit judgment.

2. The agile satellite relay transmission method based on attitude extrapolation according to claim 1 is characterized in that: Also includes: Step S5: determine whether it is necessary to terminate the tracking; If so, stop; If not, return to step S2 to step S4.

3. The agile satellite relay transmission method based on attitude extrapolation according to claim 1 is characterized in that: The step S1 specifically includes: Step S11, before entering the relay tracking arc, start the servo controller, the servo controller is configured with a relay antenna pointing calculation program; Step S12, receiving the relay satellite orbit by the servo controller; Step S13: determine the position and speed of the relay satellite, thereby controlling the operation of the relay antenna along the X-axis and Y-axis to track the relay satellite.

4. The agile satellite relay transmission method based on attitude extrapolation according to claim 1 is characterized in that: The step S2 specifically includes: Step S21, receiving GPS broadcast data, wherein the GPS broadcast data is broadcast by a GPS receiver through a CAN bus and includes real-time position and speed information of a satellite platform in a WGS84 coordinate system; Step S22, calculating the position and velocity of the satellite platform in the J2000 geocentric inertial system according to the GPS broadcast data, and predicting the position and velocity of the satellite platform at the next moment by Lagrange interpolation method; Step S23: Calculate the position and velocity of the relay satellite in the geocentric inertial system of the J2000 satellite at the target time according to the number of elements of the initial orbit of the relay satellite injected.

5. The agile satellite relay transmission method based on attitude extrapolation according to claim 1 is characterized in that: The step S3 specifically includes: Step S31, receiving attitude broadcast data, the attitude broadcast data is broadcasted by the control computer of the satellite platform through the CAN bus, and at least includes attitude broadcast time, attitude angle, and attitude angular velocity; Step S32, parsing the attitude broadcasting time, attitude angle and attitude angular velocity based on the attitude broadcasting data; Step S33: extrapolate the attitude angular velocity at a uniform speed to obtain attitude angle information at the next calculation pointing time, which is used for relay antenna pointing calculation.

6. The agile satellite relay transmission method based on attitude extrapolation according to claim 1, characterized in that: In the step S4, calculating the relay antenna orientation by coordinate transformation specifically includes: According to the position and velocity of the satellite platform and relay satellite in the J2000 geocentric inertial system, the pointing vector of the satellite relative to the relay satellite is obtained and the pointing angle of the relay antenna is calculated in the manner of J2000 geocentric inertial system - satellite attitude reference coordinate system - satellite platform coordinate system - satellite antenna reference coordinate system - antenna coordinate system.

7. The agile satellite relay transmission method based on attitude extrapolation according to claim 1 is characterized in that: In the step S4, after obtaining the relay antenna pointing angle, determining the antenna limit judgment situation specifically includes: Determine the limit angles of the X-axis and Y-axis of the relay antenna respectively. When the angle to be rotated is greater than the corresponding phase angle, control is performed according to the limit angle. Otherwise, the antenna is controlled according to the calculation result. The limit angle includes a software limit angle and a hardware limit angle.

8. The agile satellite relay transmission method based on attitude extrapolation according to claim 5, characterized in that: In step S33, the satellite attitude angle and attitude angular velocity are linearly extrapolated at a uniform speed, that is, the attitude angle and the attitude angular velocity are added, which is expressed as: Yaw angle ψ=ψ ° +ψ v Roll Angle Pitch angle θ = θ ° +θ v Among them, ψ ° , θ ° is the broadcast attitude angle data, ψ v , θ v The broadcast attitude and velocity data.

9. An electronic device, characterized in that: include: One or more processors, one or more memories, and one or more computer programs; wherein the processor is connected to the memory, and the one or more computer programs are stored in the memory; when the electronic device is running, the processor executes the one or more computer programs stored in the memory, so that the electronic device executes an agile satellite relay transmission method based on attitude extrapolation as described in any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that: Used to store computer instructions, which, when executed by a processor, implement an agile satellite relay transmission method based on attitude extrapolation as described in any one of claims 1 to 8.

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