Star-ground integrated cooperative high-efficiency alignment method based on large field of view optical load

Abstract

A high-efficiency alignment method based on a large field-of-view optical payload, involving spacecraft system technology, solves the problems of low accuracy and slow response in existing technologies, while meeting the requirements of high-speed data transmission from remote sensing satellites for pointing accuracy and link availability, thus improving satellite data transmission efficiency. The method includes the following steps: Step S1, when the satellite enters data transmission mode, the laser ground station turns on the beacon light, and the satellite center computer executes the alignment procedure; Step S2, the satellite alignment is completed, and a data transmission link is established between the satellite and the laser ground station; Step S3, the satellite conducts a data transmission test, and when the test is completed, the data transmission link between the satellite and the laser ground station is terminated, ending the operation.

Description

Technical Field

[0001] This invention relates to the field of spacecraft systems technology, and more specifically to a space-ground integrated collaborative high-efficiency alignment method based on a large field-of-view optical payload. Background Technology

[0002] Against the backdrop of the accelerated global advancement of digital remote sensing applications, remote sensing satellites, with their advantages of high resolution, wide coverage, and all-weather observation, have become core infrastructures in fields such as geographic information acquisition, meteorological monitoring, and disaster early warning. With the widespread use of various imaging modes such as push-broom and video imaging, the amount of remote sensing satellite data is growing exponentially. Traditional communication methods, limited by transmission rates, can no longer meet the demands for data downlink. Satellite-to-ground laser communication, with its ultra-high bandwidth, low latency, and strong anti-interference capabilities, has become a key technology for solving the real-time transmission of massive amounts of remote sensing satellite data. The combination of "high-frequency high-speed microwave + laser terminal" communication has become the main approach for high-speed satellite-to-ground data transmission.

[0003] However, in existing technologies, directional communication terminals (such as laser terminals and high-frequency high-speed microwave antennas) suffer from several problems due to their relatively small field of view, leading to poor multi-system coordination and difficulty in guaranteeing alignment and tracking accuracy when coordinated with satellite platforms. Current processes rely on single sensor data, resulting in significant calibration errors in the camera and communication terminal mounting matrices, which fails to meet the accuracy and real-time requirements of high-precision alignment. In the miss distance extraction stage, a relatively simple extraction method is used, resulting in long pre-alignment times, susceptibility to interference from background light, and large positioning errors, severely limiting antenna alignment and coarse tracking accuracy. Summary of the Invention

[0004] This invention solves the problems of low accuracy and slow response in the prior art, while meeting the requirements of high-speed data transmission from remote sensing satellites for pointing accuracy and link availability, and improving satellite data transmission efficiency.

[0005] The efficient alignment method for integrated satellite-ground systems based on a large field-of-view optical payload, as described in this invention, includes the following steps:

[0006] Step S1: When the satellite enters data transmission mode, the laser ground station turns on the beacon light, and the satellite center computer executes the alignment procedure.

[0007] Step S2: Satellite alignment is completed, and a data transmission link is established between the satellite and the laser ground station;

[0008] Step S3: The satellite conducts a data transmission test. When the data transmission test is completed, the satellite disconnects from the data transmission link with the laser ground station and the operation ends.

[0009] Furthermore, in one embodiment of the present invention, the satellite center computer executes the alignment procedure in step S1, which includes the following steps:

[0010] In step S101, the satellite center computer enters an interruption, loads the calibration parameters of the communication terminal antenna and camera coordinate system respectively, and the camera stares at the laser ground station;

[0011] Step S102: Image the beacon light with the camera and determine whether the beacon light enters the camera's field of view based on the camera coordinate system calibration parameters. If yes, proceed to step S103; otherwise, proceed to step S101.

[0012] Step S103: Calculate the miss distance based on the grayscale matrix of the beacon light image acquired by the camera, and calculate the angle between the beacon light and the camera optical axis based on the miss distance;

[0013] Step S104: Based on the angle between the beacon light and the camera optical axis, assist satellite pointing correction, and calculate the vector of the beacon light in the camera coordinate system;

[0014] Step S105: Based on the beacon light vector in the camera coordinate system, perform satellite attitude control and control the satellite attitude adjustment amount;

[0015] In step S106, the laser ground station is fine-tuned according to the beacon light, and the communication terminal antenna is fine-tuned in coordination with the beacon light until the target accuracy is achieved, then the operation ends.

[0016] Furthermore, in one embodiment of the present invention, in step S102, the condition for the beacon light to enter the camera's field of view is:

[0017] The dynamic angle between the beacon light vector and the camera optical axis is ≤ half of the camera's field of view.

[0018] Furthermore, in one embodiment of the present invention, the dynamic angle between the beacon light vector and the camera optical axis is ≤ half of the camera's field of view, specifically:

[0019] ;

[0020] in, Let be the vector of the beacon light in the camera coordinate system. The camera's optical axis vector. This is the camera's field of view.

[0021] Furthermore, in one embodiment of the present invention, in step S103, the calculation of the miss distance based on the grayscale matrix of the beacon light image acquired by the camera specifically includes:

[0022] ;

[0023] in, The grayscale matrix of the beacon spot image captured by the camera. The effective area of ​​the light spot and These are the selection coefficients for the two directions, respectively. The coordinates of the center of the light spot;

[0024] ;

[0025] in, For off-target amount, and These are the coordinates of the principal points in two directions of the camera.

[0026] Furthermore, in one embodiment of the present invention, the angle between the beacon light and the camera optical axis in step S103 is specifically as follows:

[0027] ;

[0028] in, For off-target amount, The angle between the beacon light and the camera's optical axis. This refers to the camera's focal length.

[0029] Furthermore, in one embodiment of the present invention, the auxiliary satellite pointing correction in step S104 specifically includes:

[0030] ;

[0031] in, This is the proportional correction factor. This is the antenna pointing and camera optical axis transformation matrix. The angle between the beacon light and the camera's optical axis. Let be the angle between the optical axis and the beacon light vector in the camera prism coordinate system. This is the transpose of a vector.

[0032] Furthermore, in one embodiment of the present invention, the satellite attitude adjustment amount in step S105 specifically refers to:

[0033] ;

[0034] in, For satellite attitude adjustment, for exist Projection of a plane for exist Projection of a plane for exist Projection of a plane for exist Projection of a plane for exist Projection of a plane for exist Projection of a plane Let be the vector of the beacon light in the camera coordinate system. This refers to the orientation of the communication terminal's antenna.

[0035] This invention solves the problems of low accuracy and slow response in existing technologies, while meeting the requirements of high-speed data transmission from remote sensing satellites for pointing accuracy and link availability, and improving satellite data transmission efficiency. Specific beneficial effects include:

[0036] The present invention describes a space-ground integrated collaborative high-efficiency alignment method based on a large field-of-view optical payload. Specifically, it proposes a space-ground integrated collaborative high-efficiency alignment technology scheme for remote sensing satellites based on a large field-of-view optical payload. This method does not require additional optical generators and receivers; it only uses a remote sensing large field-of-view optical camera payload as the communication alignment hardware. Combined with satellite attitude closed-loop control, it can establish the antenna pointing vector more quickly. Through the assisted alignment of the large field-of-view optical payload, multiple communication terminal antennas can ultimately share alignment data, improving efficiency while ensuring alignment accuracy. The method is not specific to any particular antenna type and has versatility and wide applicability.

[0037] The satellite-ground integrated collaborative high-efficiency alignment method based on a large field-of-view optical payload described in this invention enables the satellite center computer to achieve closed-loop coordination of data acquisition, miss distance calculation, and attitude control to align the communication terminal antenna. Attached Figure Description

[0038] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0039] Figure 1 This is a schematic diagram illustrating the coordinate system definition described in the specific implementation method;

[0040] Figure 2 This is a flowchart of the alignment process described in the specific implementation method;

[0041] Figure 3 This is a flowchart of the alignment procedure executed by the satellite center computer as described in the specific implementation method. Detailed Implementation

[0042] Various embodiments of the present invention will now be clearly and completely described with reference to the accompanying drawings. The embodiments described with reference to the drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0043] The satellite-ground integrated collaborative high-efficiency alignment method based on a large field-of-view optical payload described in this embodiment includes the following steps:

[0044] Step S1: When the satellite enters data transmission mode, the laser ground station turns on the beacon light, and the satellite center computer executes the alignment procedure.

[0045] Step S2: Satellite alignment is completed, and a data transmission link is established between the satellite and the laser ground station;

[0046] Step S3: The satellite conducts a data transmission test. When the data transmission test is completed, the satellite disconnects from the data transmission link with the laser ground station and the operation ends.

[0047] In this embodiment, step S1, in which the satellite center computer executes the alignment procedure, includes the following steps:

[0048] In step S101, the satellite center computer enters an interruption, loads the calibration parameters of the communication terminal antenna and camera coordinate system respectively, and the camera stares at the laser ground station;

[0049] Step S102: Image the beacon light with the camera and determine whether the beacon light enters the camera's field of view based on the camera coordinate system calibration parameters. If yes, proceed to step S103; otherwise, proceed to step S101.

[0050] Step S103: Calculate the miss distance based on the grayscale matrix of the beacon light image acquired by the camera, and calculate the angle between the beacon light and the camera optical axis based on the miss distance;

[0051] Step S104: Based on the angle between the beacon light and the camera optical axis, assist satellite pointing correction, and calculate the vector of the beacon light in the camera coordinate system;

[0052] Step S105: Based on the beacon light vector in the camera coordinate system, perform satellite attitude control and control the satellite attitude adjustment amount;

[0053] In step S106, the laser ground station is fine-tuned according to the beacon light, and the communication terminal antenna is fine-tuned in coordination with the beacon light until the target accuracy is achieved, then the operation ends.

[0054] In this embodiment, the condition for the beacon light to enter the camera's field of view in step S102 is as follows:

[0055] The dynamic angle between the beacon light vector and the camera optical axis is ≤ half of the camera's field of view.

[0056] In this embodiment, the dynamic angle between the beacon light vector and the camera optical axis is ≤ half of the camera's field of view, specifically:

[0057] ;

[0058] in, Let be the vector of the beacon light in the camera coordinate system. The camera's optical axis vector. This is the camera's field of view.

[0059] In this embodiment, step S103, which involves calculating the miss distance based on the grayscale matrix of the beacon light image acquired by the camera, specifically includes:

[0060] ;

[0061] in, The grayscale matrix of the beacon spot image captured by the camera. The effective area of ​​the light spot and These are the selection coefficients for the two directions, respectively. The coordinates of the center of the light spot;

[0062] ;

[0063] in, For off-target amount, and These are the coordinates of the principal points in two directions of the camera.

[0064] In this embodiment, the angle between the beacon light and the camera optical axis in step S103 is specifically as follows:

[0065] ;

[0066] in, For off-target amount, The angle between the beacon light and the camera's optical axis. This refers to the camera's focal length.

[0067] In this embodiment, the auxiliary satellite pointing correction in step S104 specifically refers to:

[0068] ;

[0069] in, This is the proportional correction factor. This is the antenna pointing and camera optical axis transformation matrix. The angle between the beacon light and the camera's optical axis. Let be the angle between the optical axis and the beacon light vector in the camera prism coordinate system. This is the transpose of a vector.

[0070] In this embodiment, the satellite attitude adjustment amount in step S105 is specifically as follows:

[0071] ;

[0072] in, For satellite attitude adjustment, for exist Projection of a plane for exist Projection of a plane for exist Projection of a plane for exist Projection of a plane for exist Projection of a plane for exist Projection of a plane Let be the beacon light vector in the camera coordinate system. This refers to the orientation of the communication terminal's antenna.

[0073] In existing technologies, directional communication terminals have relatively small field of view, and their collaborative control with satellite platforms suffers from various problems, such as poor coordination among multiple systems and difficulty in ensuring alignment and tracking accuracy.

[0074] To address the aforementioned technical challenges, this implementation method proposes a collaborative alignment technology based on the camera's main payload and a laser ground station for on-orbit data transmission applications of space remote sensing satellites. This technology constructs an integrated alignment and tracking system, employing precise calibration modeling, anti-interference miss distance extraction, multi-terminal collaborative control, and closed-loop process optimization. Specifically:

[0075] like Figure 1 As shown, satellites typically use the camera's optical axis as a reference to define camera coordinate system calibration parameters. The origin is the optical center of the camera. In the middle, the camera optical axis vector This vector represents the direction of the camera's optical axis, with the positive direction moving away from the camera. The direction of the communication terminal antenna is defined as... ,Should This refers to the direction of the antenna's electrical axis. The two vector transformations are as follows:

[0076] ;

[0077] in, The antenna pointing and camera optical axis conversion matrix can be obtained by using a theodolite to precisely calibrate a prism.

[0078] definition Let be the vector of the beacon light in the camera coordinate system, which is unknown outside the camera's field of view. A necessary condition for the camera to image the beacon light of the laser ground station is that the dynamic angle between the beacon light vector and the camera's optical axis is ≤ half the camera's field of view, i.e.:

[0079] ;

[0080] in, This is the camera's field of view.

[0081] After the satellite enters data transmission mode, the satellite center computer calculates the attitude target based on the current satellite orbit parameters and the coordinates of the laser ground station. By adjusting the satellite's attitude, the wide-field-of-view optical camera is initially oriented towards the laser ground station, and the beacon light from the laser ground station is imaged on the camera detector. Initially, because the beacon light and the camera's optical axis are not aligned, its projection point on the imaging plane deviates from the center point, resulting in a miss distance.

[0082] Because satellites typically possess excellent pointing accuracy (better than 0.006°) and attitude stability (better than 0.001° / s), and their cameras have larger apertures and higher transfer functions, it is easier to form a clear and stable image of the beacon light on the focal plane. By using a gray-scale weighted centroid algorithm and leveraging the gray-scale distribution of the light spot region, sub-pixel-level positioning and extraction of the beacon light spot center point can be achieved.

[0083] Let the grayscale matrix of the beacon spot image captured by the camera be... , , The effective area of ​​the light spot, through Image segmentation, To set the grayscale threshold, define , The maximum value, and This represents the selection factor for both directions. Then the coordinates of the light spot center are... for:

[0084] .

[0085] By weighting the gray values ​​of the light spot to balance its energy distribution, the influence of noise and edge blurring on the center point of the light spot is reduced, further reducing the impact of atmospheric turbulence and satellite jitter, and improving the system's noise suppression capability and calculation accuracy.

[0086] To further determine the precise pointing vector and eliminate the influence of camera principal point deviation on the miss distance calculation, the actual spot displacement on the camera focal plane, i.e., the miss distance, is expressed as:

[0087] ;

[0088] in, and These are the coordinates of the principal points in two directions of the camera. To determine the miss distance, the offset-corrected miss distance is converted into a physical miss distance, which is then calculated using the following function to obtain the angle between the beacon light and the camera optical axis on the focal plane:

[0089] ;

[0090] By transforming the coordinates, the angle between the optical axis and the beacon light vector in the camera prism coordinate system is obtained. ,in, This is the proportional correction factor. This refers to the camera's focal length.

[0091] ;

[0092] in, The transformation matrix between the camera coordinate system and the satellite coordinate system. This is the matrix transpose.

[0093] Image processing is performed by the satellite center's computer. ,get The satellite attitude adjustment amount from the moment the beacon light enters the camera's field of view until the satellite antenna points towards the ground station's data transmission antenna is calculated using the following formula. .

[0094] ;

[0095] in, for exist Projection of a plane for exist Projection of a plane for exist Projection of a plane for exist Projection of a plane for exist Projection of a plane for exist Projection onto a plane.

[0096] Subsequently, different alignment fine-tuning methods are selected based on the type of communication payload. For example, the FSM (Fast Tilting Mirror) built into the laser terminal can compensate for angular displacement, and its onboard fine-tracking detector, such as the QPD (Quadrant Detector, 10kHz bandwidth), can measure the offset under initial laser head alignment. The system then performs angle fine-tuning through a closed-loop control algorithm. For microwave antenna pointing fine-tuning, adaptive adjustment is typically based on the beacon light signal intensity gradient, with the adjustment amount being:

[0097] ;

[0098] in, To adjust the coefficient matrix, For beacon light intensity, and These are the angles of the two axes of the antenna. The beacon light intensity gradient matrix is... For angle adjustment amount, This is the matrix transpose.

[0099] The laser ground station precisely adjusts itself to follow the antenna beacon light, maintaining tracking. Ultimately, through the space-ground integrated high-efficiency alignment technology using a large field-of-view camera, high-precision alignment of the communication terminal antenna, exceeding 40μrad, is achieved.

[0100] Therefore, the integrated satellite-ground coordination method based on a large field-of-view optical payload described in this embodiment, such as Figure 2 As shown, it includes the following steps:

[0101] Step S1: Determine whether the satellite has entered the data transmission arc. If yes, proceed to step S2; otherwise, proceed to step S5.

[0102] Step S2: The laser ground station determines whether the satellite has entered data transmission mode by telemetry uploading command. If yes, proceed to step S3; otherwise, proceed to step S5.

[0103] Step S3: The laser ground station turns on the beacon light array, and the satellite center computer executes the alignment procedure;

[0104] Step S4: Satellite alignment is completed, a data transmission link between the satellite and the laser ground station is established, the satellite conducts a data transmission test, and after the data transmission is completed, the data transmission link between the satellite and the laser ground station is terminated.

[0105] Step S5: End the operation.

[0106] The satellite center computer is the core control hub of the satellite, primarily responsible for satellite attitude control, data processing, command distribution, and system coordination. During satellite attitude control, the satellite center computer collects data in real time from sensors such as star sensors and gyroscopes to construct a three-axis (roll / pitch / yaw) spatial attitude model of the satellite. After comparing this model with a preset target attitude, it uses PID (PID control algorithm) and other methods to generate commands that drive actuators such as flywheels, magnetic torque converters, or thrusters to complete attitude adjustments.

[0107] The calculation process of the satellite center computer is as follows: Figure 3 As shown, it includes the following steps:

[0108] In step S301, the satellite center computer enters an interruption, loads the calibration parameters of the communication terminal antenna and camera coordinate system respectively, and the camera stares at the laser ground station;

[0109] Step S302: Image the beacon light with the camera. By comparing the dynamic angle between the beacon light vector and the camera optical axis with half of the camera's field of view, determine whether the beacon light has entered the camera's field of view. If yes, proceed to step S303; otherwise, proceed to step S302.

[0110] Step S303: Process the beacon light image based on the grayscale weighting method and calculate the off-target amount, and calculate the angle between the beacon light and the camera optical axis;

[0111] Step S304: Assist satellite pointing correction by calculating the beacon light vector in the camera coordinate system;

[0112] Step S305: Perform satellite attitude control and control the amount of satellite attitude adjustment;

[0113] In step S306, the laser ground station is finely adjusted according to the beacon light, and the communication terminal antenna is also finely adjusted in coordination with the beacon light to achieve a precise alignment of no more than 40 μrad and a tracking accuracy of 5 μrad.

[0114] To better illustrate the efficient alignment method for integrated satellite-ground systems based on a large field-of-view optical payload described in this embodiment, the following examples provide a detailed description:

[0115] A remote sensing satellite's main payload is a 1.0m resolution, wide field-of-view optical remote sensing camera with a 270mm aperture, a typical signal-to-noise ratio of 41dB, and a field of view (FOV) of 4° (70 mrad). The satellite orbits at an altitude of 535km in a sun-synchronous orbit. The onboard laser communication terminal has an antenna beam divergence of 0.0063° (0.11 mrad), an antenna field of view of 0.2865° (5 mrad), a beacon beam divergence of 0.03438° (0.6 mrad), a signal beam divergence of 0.002865° (0.05 mrad), and an average data transmission rate of 10Gbps. The laser ground station has a field of view of 0.229° (0.384 mrad), transmits beacon light with a power of 15W, has a beam divergence of 0.1146° (2 mrad), and a signal beam divergence of 0.004° (0.07 mrad).

[0116] When the satellite is transmitting data, each transmission lasts 490 seconds and contains a total of 612.5 GB of effective data. After being aligned with a large-aperture camera and a laser ground station, each transmission lasts 550 seconds and contains a total of 687.5 GB of effective data, which improves the satellite's data transmission capability by 12%.

[0117] In summary, this embodiment establishes a general alignment technology based on a large field-of-view optical payload for integrated satellite-ground coordination. A 4° large field-of-view optical camera is used to image the beacon light of the laser ground station. The installation matrix is ​​precisely calibrated using a theodolite to eliminate initial null position errors. A gray-scale weighted centroid algorithm combined with camera coordinate transformation is employed to achieve high-precision extraction of camera miss distance. A coupled model of satellite pointing and miss distance correction is established, and closed-loop control converges the alignment error to 100 μrad. Through coordinated fine-tuning of the ground laser station and communication terminal antennas, a pointing accuracy better than 40 μrad and a tracking accuracy of 5 μrad are achieved.

[0118] By leveraging satellite attitude control platforms and cameras, the acquisition efficiency, tracking stability, and communication availability of the space-to-ground laser link are improved, supporting high-speed real-time downlink of high-resolution remote sensing data. Meanwhile, because space data transmission antenna payloads are typically limited by aperture—for example, the higher the frequency of a microwave antenna, the stronger its directivity and the narrower its half-beamwidth—the half-power beamwidth of a high-gain Ka-band microwave antenna with a communication rate of 800MB is typically 0.1°–1.0°, while the half-wavenumber width of a high-frequency Q / V band antenna with a communication rate of 1500MB (above 50GHz) is typically below 0.8° or even smaller. The laser antenna beam divergence angle is typically between 0.002° and 0.03°, with a typical field of view below 0.5°.

[0119] The field of view of the camera carried by the satellite is usually larger, more than five times that of the above-mentioned payload. Compared with the autonomous alignment scheme of the communication terminal antenna, the difficulty of capturing ground station signals by using the collaborative alignment technology of large field of view optical payload is greatly reduced.

[0120] The above provides a detailed description of the integrated satellite-ground coordination method for efficient alignment based on a large field-of-view optical payload proposed in this invention. Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this 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 this invention. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. A space-ground integrated collaborative high-efficiency alignment method based on a large field-of-view optical payload, characterized in that, Includes the following steps: Step S1: When the satellite enters data transmission mode, the laser ground station turns on the beacon light, and the satellite center computer executes the alignment procedure. Step S2: Satellite alignment is completed, and a data transmission link is established between the satellite and the laser ground station; Step S3: The satellite conducts a data transmission test. When the data transmission test is completed, the data transmission link between the satellite and the laser ground station is disconnected, and the operation ends. In step S1, the satellite center computer executes the alignment procedure, which includes the following steps: In step S101, the satellite center computer enters an interruption, loads the calibration parameters of the communication terminal antenna and camera coordinate system respectively, and the camera stares at the laser ground station; Step S102: Image the beacon light with the camera and determine whether the beacon light enters the camera's field of view based on the camera coordinate system calibration parameters. If yes, proceed to step S103; otherwise, proceed to step S101. Step S103: Calculate the miss distance based on the grayscale matrix of the beacon light image acquired by the camera, and calculate the angle between the beacon light and the camera optical axis based on the miss distance; Step S104: Based on the angle between the beacon light and the camera optical axis, assist satellite pointing correction, and calculate the vector of the beacon light in the camera coordinate system; Step S105: Based on the beacon light vector in the camera coordinate system, perform satellite attitude control and control the satellite attitude adjustment amount; In step S106, the laser ground station is finely adjusted according to the beacon light, and the communication terminal antenna is finely adjusted in coordination with the beacon light until the target accuracy is achieved, then the operation ends. In step S103, the calculation of the miss distance based on the grayscale matrix of the beacon light image acquired by the camera specifically involves: ； in, The grayscale matrix of the beacon spot image captured by the camera. The effective area of ​​the light spot and These are the selection coefficients for the two directions, respectively. The coordinates of the center of the light spot; ； in, For off-target amount, and These are the coordinates of the principal points in two directions of the camera.

2. The satellite-ground integrated collaborative high-efficiency alignment method based on a large field-of-view optical payload according to claim 1, characterized in that, In step S102, the condition for the beacon light to enter the camera's field of view is: The dynamic angle between the beacon light vector and the camera optical axis is ≤ half of the camera's field of view.

3. The satellite-ground integrated collaborative high-efficiency alignment method based on a large field-of-view optical payload according to claim 2, characterized in that, The aforementioned dynamic angle between the beacon light vector and the camera optical axis is ≤ half of the camera's field of view, specifically: ； in, Let be the vector of the beacon light in the camera coordinate system. The camera's optical axis vector. This is the camera's field of view.

4. The satellite-ground integrated collaborative high-efficiency alignment method based on a large field-of-view optical payload according to claim 1, characterized in that, In step S103, the angle between the beacon light and the camera optical axis is specifically as follows: ； in, For off-target amount, The angle between the beacon light and the camera's optical axis. This refers to the camera's focal length.

5. The satellite-ground integrated collaborative high-efficiency alignment method based on a large field-of-view optical payload according to claim 1, characterized in that, In step S104, the auxiliary satellite pointing correction specifically includes: ； in, This is the proportional correction factor. This is the antenna pointing and camera optical axis transformation matrix. The angle between the beacon light and the camera's optical axis. Let be the angle between the optical axis and the beacon light vector in the camera prism coordinate system. This is the transpose of a vector.

6. The integrated satellite-ground coordination method for efficient alignment based on a large field-of-view optical payload according to claim 1, characterized in that, In step S105, the satellite attitude adjustment amount specifically refers to: ； in, For satellite attitude adjustment, for exist Projection of a plane for exist Projection of a plane for exist Projection of a plane for exist Projection of a plane for exist Projection of a plane for exist Projection of a plane Let be the beacon light vector in the camera coordinate system. This refers to the orientation of the communication terminal's antenna.

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