A method for rapid switching and relay tracking of densely packed satellite formations

Abstract

This invention relates to the field of satellite telemetry, tracking, and command (TT&C) technology, specifically a rapid switching relay tracking method for densely packed satellite formations. Applied to the antenna servo embedded system of ground-based TT&C equipment for densely packed satellite formations, it solves the problems of response lag, high computational overhead, and low pointing accuracy inherent in traditional methods for tracking densely packed satellite formations. This method generates acceleration / deceleration planning sequences through ephemeris analysis, combines link indicators and preset times to achieve dual-trigger judgment for acceleration and deceleration, preloads dedicated parameter templates and adapts to the FPGA+MCU dual-core hardware architecture, employs a simplified three-stage acceleration / deceleration execution to compensate for orbital drift, verifies the status after motion and dynamically adapts parameters, and activates a backup plan in case of anomalies. This invention achieves proactive predictive planning, significantly reducing the computational overhead of the embedded system, achieving satellite switching tracking time ≤20s, controllable pointing accuracy, and constructing a complete acceleration / deceleration control system without requiring large-scale hardware modifications, making it highly practical for engineering applications.

Description

Technical Field

[0001] This invention relates to the field of satellite telemetry, tracking and command technology, specifically a method for rapid switching and relay tracking of densely packed satellite formations. Background Technology

[0002] The construction of global low-Earth orbit satellite constellations is currently in a period of rapid growth. As a core mode for enhancing the collaborative efficiency of satellite systems, convoy flight is experiencing a surge in both telemetry, tracking, and command (TT&C) demands and technological challenges. Compared to single-satellite operation, densely packed convoy satellites, through multi-satellite collaboration and functional complementarity, can achieve higher resolution observations, shorter revisit cycles, and more flexible mission responses. They have been widely applied in several key areas such as land monitoring, weather warnings, global IoT, and space science experiments. Ground-based TT&C for densely packed satellites is a core component of the stable operation of the satellite system. The motion control of the TT&C antenna servo system directly determines the accuracy and continuity of satellite tracking. Due to requirements such as on-site deployment, power consumption constraints, and real-time response, the antenna servo system generally adopts an embedded system architecture. This architecture is limited by the computing power, storage resources, and computational efficiency of MCUs / FPGAs, placing stringent demands on the computational overhead of acceleration / deceleration planning methods.

[0003] The dense deployment, short transit windows, and high data transmission demands of satellite formations place far greater demands on the rapid tracking and switching capabilities of satellite ground control equipment than on traditional single-satellite systems. The acceleration and deceleration planning of the antenna servo system is the core element for achieving tracking and switching. Traditional acceleration and deceleration planning methods are designed for single-satellite control scenarios and are not adapted to the application requirements of densely formed satellites. They also have serious compatibility issues with the hardware characteristics of embedded systems, resulting in numerous technical defects being exposed during the tracking of densely formed satellites.

[0004] First, traditional acceleration and deceleration planning methods adopt a passive response design, which does not combine satellite ephemeris prediction information for acceleration and deceleration pre-planning. It is necessary to analyze orbital parameters and calculate acceleration and deceleration motion parameters in real time when satellites switch. The calculation steps are cumbersome and the computational overhead is large. Embedded systems cannot support this, and antenna pointing lag is likely to occur, leading to satellite-to-ground link interruption. The characteristics of dense formation satellites with small spacing and fast maneuvering further amplify this problem, often resulting in situations where the target satellite has passed by but the antenna has not yet completed the pointing adjustment.

[0005] Second, the accuracy of the program guidance does not match the satellite orbit parameters. The motion parameters of traditional acceleration and deceleration planning are designed in a general way and do not establish exclusive parameter templates for densely packed satellites with different orbits and different operating states. Each switch requires resetting the acceleration and deceleration parameters, which takes a long time to load and calculate parameters and cannot meet the needs of rapid switching.

[0006] Third, the task planning is poorly adapted to the performance of embedded hardware. Although existing technologies use a three-stage motion control of variable acceleration-uniform speed-variable deceleration to improve the antenna response speed, they have not simplified or optimized the calculations for embedded systems. They retain a large number of high-precision floating-point operations and redundant calculation steps, and the hardware advantages of the FPGA plus MCU dual-core architecture are not brought into play, resulting in low computational efficiency of acceleration and deceleration planning and the inability to achieve efficient operation of multi-satellite continuous switching.

[0007] Fourth, there is a lack of a scientific acceleration / deceleration triggering mechanism. Traditional methods trigger acceleration / deceleration commands based on a single link quality indicator, which is prone to false triggering or missed triggering. This causes the antenna to repeatedly adjust acceleration and deceleration, further increasing the computational overhead of the embedded system and reducing the stability of tracking.

[0008] Fifth, there is no sound state verification and dynamic adaptation mechanism after acceleration and deceleration. Traditional methods do not fully verify the pointing accuracy and satellite-to-ground link status after the antenna completes acceleration and deceleration, nor do they dynamically adjust the acceleration and deceleration parameters according to the data transmission characteristics of the target satellite. This can easily lead to situations where the antenna pointing deviation exceeds the data transmission reception requirements, requiring repeated fine-tuning of acceleration and deceleration. This not only increases the computational overhead but also significantly reduces the continuity of satellite tracking.

[0009] Furthermore, existing antenna program tracking and guidance technologies for satellite ground control equipment do not integrate acceleration / deceleration planning with the entire satellite tracking switching process. Acceleration / deceleration planning is treated as an independent motion control component, disconnected from ephemeris analysis, parameter loading, and link monitoring, failing to achieve integrated control encompassing "prediction-preparation-execution-verification." Research on acceleration / deceleration planning for embedded systems is largely focused on industrial control and robotics, neglecting customized design for the specific scenarios of densely packed satellite tracking and control. This fails to address specific issues such as satellite orbital drift compensation, beam direction coordination adjustment, and cross-orbit switching acceleration / deceleration adaptation. In summary, the contradiction between the actual needs of densely packed satellite ground control and the technical shortcomings of traditional acceleration / deceleration planning methods is becoming increasingly prominent. There is an urgent need to develop an acceleration / deceleration planning method that adapts to the hardware characteristics of embedded systems and has low computational overhead. By simplifying the computational model, optimizing the planning process, and customizing the design to suit the specific characteristics of satellite tracking and control scenarios, this method can solve the problems of high computational overhead, slow response, low pointing accuracy, and easy link interruption in antenna servo systems during densely packed satellite tracking switching, enabling rapid switching and relay tracking of densely packed satellites. Summary of the Invention

[0010] To address the aforementioned deficiencies and shortcomings of existing technologies, the core objective of this invention is to provide a low-computational-overhead acceleration / deceleration planning method suitable for embedded systems, specifically adapted to the antenna servo embedded system of ground-based telemetry and control equipment for densely packed satellite formations. This invention combines the ephemeris parameters of densely packed satellite formations with the hardware characteristics of the embedded system's FPGA and MCU to construct an integrated acceleration / deceleration planning system encompassing "active prediction, parameter preloading, low-power execution, real-time verification, and dynamic adaptation." This simplifies the acceleration / deceleration calculation model, optimizes the triggering and judgment mechanism, and leverages the hardware advantages of the embedded dual-core architecture, significantly reducing the computational complexity and overhead of acceleration / deceleration planning. It also improves the response speed and pointing accuracy of the antenna servo system, achieving seamless handover during tracking and switching of densely packed satellite formations. This resolves the core contradiction between the limited computing power of embedded systems and the rapid tracking and switching of densely packed satellite formations, meeting the application needs of low-Earth orbit densely packed satellite telemetry, tracking, and control engineering in fields such as land monitoring and meteorological early warning.

[0011] The technical solution adopted by this invention to solve its technical problem is: a rapid switching relay tracking method for densely packed satellite formations, applied to the antenna servo embedded system of ground telemetry and control equipment for densely packed satellite formations, comprising the following steps: 1) Ephemeris analysis and acceleration / deceleration planning sequence generation: The ground control equipment monitoring unit obtains the ephemeris prediction information of densely packed satellites, analyzes it to obtain orbital parameters such as orbital inclination, speed, and position coordinates, plans the satellite tracking sequence based on the parameters, and generates acceleration / deceleration planning sequence in combination with antenna motion characteristics. It clarifies the acceleration / deceleration motion parameters and succession order from the source satellite to the target satellite, and adjusts the acceleration / deceleration planning parameters according to the orbital drift characteristics of adjacent orbital satellites when switching across orbits. 2) Real-time status monitoring and acceleration / deceleration trigger determination: Continuously monitor the signal strength, signal-to-noise ratio, and remaining satellite coverage time of the satellite-to-ground link. When the data transmission is completed or the link quality deteriorates, an acceleration / deceleration command is triggered. At the same time, it is determined whether the preset acceleration / deceleration time has been reached. The dual determination avoids false triggering. In some scenarios, the acceleration / deceleration trigger time is optimized through evolutionary algorithms. 3) Acceleration and deceleration parameter preloading and embedded hardware adaptation: Establish an acceleration and deceleration parameter template for densely packed satellite formations. Store the template along with satellite frequency bands, transmission and reception frequencies and other telemetry and control parameters in the FPGA configuration memory. The embedded system adopts a dual intermediate frequency channel design. Channel A maintains the current satellite's acceleration and deceleration motion, while channel B pre-configures the acceleration and deceleration parameters of the target satellite. 4) Low computational overhead execution of three-stage acceleration and deceleration: After receiving the acceleration and deceleration command, the antenna servo system coordinates with the antenna through mechanical servo and adopts a three-stage motion control of variable acceleration-uniform speed-variable deceleration. This simplifies the three-stage calculation model and reduces floating-point calculations. The embedded MCU is responsible for status monitoring and command issuance, while the FPGA is responsible for real-time acceleration and deceleration calculations, so as to realize precise adjustment of antenna pointing and track drift compensation. 5) Status verification and dynamic parameter adaptation after acceleration and deceleration: Verify the signal stability of the target satellite and the antenna pointing deviation angle, adapt parameters such as frequency band and transmission rate according to the data transmission characteristics of the target satellite, and if the signal is abnormal, start the backup switching scheme, regenerate the acceleration and deceleration planning sequence and match a suitable satellite.

[0012] Specifically, when generating the acceleration / deceleration planning sequence in step 1), the signal attenuation node of the currently tracked satellite is predicted in advance by combining the satellite transit timing and angle calculation model, and the antenna pointing acceleration / deceleration parameters of the target satellite are pre-calculated before the signal attenuates to a set threshold.

[0013] Specifically, the execution logic of the dual determination in step 2) is as follows: if no acceleration or deceleration command is received from the baseband unit, it is further determined whether the preset acceleration or deceleration time has been reached. If either condition is met, the acceleration or deceleration operation is performed.

[0014] Specifically, the acceleration / deceleration parameter template mentioned in step 3) includes the acceleration / deceleration slope of the antenna motion, the speed of the constant speed segment, the total motion distance, and the basic parameters of satellite telemetry and control. The template does not need to be recalculated when it is called and can be read directly through the FPGA configuration memory.

[0015] Specifically, the simplified calculation method for the three-stage motion control described in step 4) is as follows: linear fitting is used to replace complex curve calculations in the variable acceleration and variable deceleration stages, redundant high-precision floating-point calculation steps are deleted, and only integer and simple floating-point operations that can be efficiently executed by the embedded system are retained.

[0016] Specifically, the orbital drift compensation mentioned in step 4) is as follows: the antenna servo system compensates for the orbital drift of the densely packed satellites by accelerating and decelerating the rotation from east to west through mechanical servo, so that the source satellite and the target satellite are temporarily within the coverage range of the antenna main lobe beam.

[0017] Specifically, in step 5), the antenna pointing deviation angle needs to be controlled within the threshold range required for densely arrayed satellite data transmission reception. If the threshold is exceeded, an acceleration / deceleration fine-tuning command will be triggered.

[0018] Specifically, the triggering condition for the backup switching scheme described in step 5) is: after acceleration and deceleration are completed, the target satellite signal continues to be abnormal for more than the preset time, or the antenna pointing deviation angle cannot meet the data transmission reception requirements even after multiple fine adjustments.

[0019] Specifically, the embedded system is a dual-core architecture of FPGA and MCU. The FPGA is responsible for acceleration and deceleration calculations, parameter storage, and switching control of the dual intermediate frequency channels, while the MCU is responsible for ephemeris analysis, status monitoring, and iterative calculations of the evolutionary algorithm.

[0020] Specifically, when generating acceleration and deceleration planning sequences, in the low-Earth orbit satellite system, adjacent satellites that subsequently enter the terminal's field of view in the source satellite's orbit are set as priority switching targets, and the acceleration and deceleration planning sequences generated for these targets are designed using the principle of the shortest motion path.

[0021] The beneficial effects of this invention are: This invention enables proactive, predictive acceleration / deceleration planning, completely resolving the lag issue of passive response: Based on ephemeris data from densely packed satellite formations, it constructs a satellite transit timing and angle calculation model, predicts signal attenuation nodes in advance, and pre-calculates acceleration / deceleration parameters. Before the current satellite signal attenuates to the threshold, it triggers acceleration / deceleration commands, transforming the traditional "passive switching plus passive acceleration / deceleration" mode into a "proactive prediction plus advance preparation" mode. It can pre-acquire target satellite signals without waiting for the antenna to be fully in place, achieving seamless handover of multi-target tracking of densely packed satellite formations.

[0022] Significantly reducing the computational overhead of embedded systems and improving computational efficiency: This invention simplifies the three-stage acceleration and deceleration computational model, adopts a dual-core architecture of FPGA and MCU, and establishes a parameter template preloading mechanism. It eliminates redundant floating-point operation steps, fully leverages the parallel computing advantages of FPGA, reduces the computational complexity of acceleration and deceleration planning by more than 60%, significantly reduces the computational pressure on embedded systems, and can support the acceleration and deceleration planning requirements of multi-star continuous switching.

[0023] Improving the response speed and pointing accuracy of the antenna servo system: This invention adopts a three-stage motion control of variable acceleration-uniform speed-variable deceleration, and combines it with orbital drift compensation for acceleration and deceleration planning optimization. At the same time, it pre-calculates the pointing acceleration and deceleration parameters of the target satellite 5 seconds in advance, so that the satellite switching tracking time is ≤20 seconds. The antenna pointing deviation angle can be precisely controlled within the data transmission reception requirements, effectively solving the antenna response lag problem caused by the small spacing and fast maneuvering of densely packed satellite formations.

[0024] Constructing a scientific acceleration / deceleration control system to improve the stability of tracking switching: This invention avoids false / missed triggering of acceleration / deceleration through a dual-condition triggering judgment mechanism, ensures link stability through post-switching status verification and dynamic adaptation mechanism, and responds to abnormal scenarios through a backup switching scheme, forming a full-process acceleration / deceleration control system of "planning-triggering-execution-verification-adaptation", which significantly improves the tracking switching stability and efficiency of telemetry and control equipment in multi-satellite environments.

[0025] Highly adaptable to embedded system hardware characteristics and highly practical for engineering: The acceleration and deceleration planning method of this invention is based on an FPGA plus MCU dual-core embedded architecture design. The parameter template is stored in the FPGA configuration memory, and the calculation steps are adapted to the instruction set of the embedded system. It does not require large-scale hardware modification of existing satellite ground telemetry and control equipment. It can be implemented only through software algorithm optimization. The modification cost is low and the deployment difficulty is small. It can be widely used in ground telemetry and control embedded systems of various densely packed satellite formations. Attached Figure Description

[0026] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0027] Figure 1 This is a schematic diagram of the system structure of the low computational overhead acceleration / deceleration planning method for embedded systems according to the present invention. It shows the connection relationship and data transmission path of the FPGA plus MCU dual-core embedded system, monitoring unit, antenna servo system, FPGA configuration memory, dual intermediate frequency channels, and baseband unit. Figure 2 This is a flowchart illustrating the steps of the low-computational-overhead acceleration / deceleration planning method for embedded systems according to the present invention. It shows the five core steps: ephemeris analysis and acceleration / deceleration planning sequence generation, real-time status monitoring and trigger determination, parameter preloading and hardware adaptation, three-stage low-power acceleration / deceleration execution, status verification and dynamic parameter adaptation, as well as the interaction relationships between each step. Detailed Implementation

[0028] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0029] like Figures 1-2 As shown, the present invention discloses a rapid switching relay tracking method for densely packed satellite formations. This method is implemented based on hardware modules such as the monitoring unit, antenna servo system, FPGA configuration memory, and baseband unit of the ground telemetry and control equipment for densely packed satellite formations. The core design revolves around five key aspects: ephemeris analysis pre-planning, dual-condition triggering, parameter hardware pre-loading, dual-core low-power execution, and verification adaptation optimization. It transforms traditional passive acceleration / deceleration planning into active predictive planning, and simplifies the computational model to suit the hardware characteristics of embedded systems. Specifically, it includes the following steps: Step 1: Ephemeris Analysis and Acceleration / Deceleration Planning Sequence Generation: The ground-based telemetry and control equipment monitoring unit first acquires the ephemeris prediction information of the densely packed satellite formation, and analyzes it to obtain key orbital parameters such as satellite orbital inclination, speed, and position coordinates. Subsequently, based on the orbital parameters and the satellite transit timing and angle calculation model, the program plans the tracking sequence of the densely packed satellite formation, clarifies the succession order of the source satellite and the target satellite, and in the low-Earth orbit satellite system, prioritizes the adjacent satellites that subsequently enter the terminal's field of view in the source satellite's orbit as target satellites. When switching between orbits, the program selects the appropriate satellite in the adjacent orbit as the target satellite and compensates for orbital drift characteristics. Finally, based on the motion characteristics of the antenna servo system, an acceleration / deceleration planning sequence matching the tracking sequence is generated, clarifying parameters such as acceleration / deceleration slope, constant speed segment speed, total motion distance, and switching interval. At the same time, the program predicts the signal attenuation node of the currently tracked satellite in advance, and pre-calculates the antenna pointing acceleration / deceleration parameters of the target satellite before the signal attenuates to a set threshold, forming a complete acceleration / deceleration planning plan.

[0030] Step 2: Real-time Status Monitoring and Acceleration / Deceleration Trigger Determination: The ground control equipment monitoring unit continuously monitors various operational indicators of the current satellite-to-ground link, including signal strength, signal-to-noise ratio, and remaining satellite coverage time. When it detects that the data transmission of the currently connected satellite has been completed or the link quality has dropped to a set threshold, an acceleration / deceleration command is immediately triggered. The switching system simultaneously determines whether it has received an acceleration / deceleration command from the baseband unit. If not, it further determines whether the preset acceleration / deceleration time has been reached. This dual determination mechanism avoids false or missed acceleration / deceleration triggers. For complex scenarios such as cross-orbit switching of densely packed satellite formations, an evolutionary algorithm is used to optimize the acceleration / deceleration trigger time and iteratively calculate the optimal trigger time to ensure the scientific and rational nature of the acceleration / deceleration trigger decision.

[0031] Step 3: Preloading Acceleration / Deceleration Parameters and Embedded Hardware Adaptation: Establish a dedicated acceleration / deceleration parameter template for densely packed satellite formations. The template contains core acceleration / deceleration parameters for antenna motion and basic satellite telemetry and control parameters (satellite frequency band, transmit / receive frequency, modulation method, coding rate, symbol rate, etc.). Store this parameter template in the FPGA configuration memory. When switching satellites, the template can be directly called without recalculating parameters, significantly reducing parameter reset time. The embedded system adopts a dual intermediate frequency channel design. Channel A is responsible for receiving the current satellite and maintaining the acceleration / deceleration motion state of the antenna, while Channel B pre-configures the acceleration / deceleration parameters and telemetry and control parameters of the next target satellite, realizing parallel loading of parameters and parallel maintenance of state.

[0032] Step 4: Low-computational-overhead execution of three-stage acceleration and deceleration: Upon receiving acceleration and deceleration commands, the telemetry and control equipment adjusts the antenna pointing through the coordinated action of the mechanical servo and the antenna. The antenna servo system employs a three-stage motion control of variable acceleration, uniform speed, and variable deceleration to achieve rapid and precise antenna movement. To address the computational limitations of the embedded system, the computational model of the three-stage motion control is simplified. Complex curve calculations in the variable acceleration and deceleration stages are replaced with linear fitting calculations, and redundant high-precision floating-point calculation steps are removed, retaining only integer and simple floating-point operations. The embedded system adopts a dual-core architecture of FPGA and MCU. The MCU is responsible for status monitoring, command issuance, and simple iterative calculations of the evolutionary algorithm, while the FPGA is responsible for real-time calculation of acceleration and deceleration parameters, switching control of the dual intermediate frequency channels, and drive control of the mechanical servo. This fully leverages the parallel computing advantages of the FPGA to achieve low-computational-overhead acceleration and deceleration execution. Simultaneously, the acceleration and deceleration motion of the mechanical servo rotating from east to west compensates for orbital drift and, in conjunction with the antenna beam direction adjustment, ensures that the source satellite and the target satellite are temporarily within the main lobe beam coverage area.

[0033] Step 5: Status Verification and Dynamic Parameter Adaptation After Acceleration / Deceleration: After the antenna servo system completes acceleration / deceleration, the ground control equipment monitoring unit immediately performs a comprehensive verification of the satellite-to-ground link status to confirm whether the target satellite's signal is stable and whether the antenna pointing deviation angle is controlled within the threshold range required for data transmission reception by densely packed satellites. Simultaneously, the monitoring unit dynamically adapts the frequency band, transmission rate, and other control parameters to the acceleration / deceleration fine-tuning parameters based on the target satellite's data transmission downlink characteristics. If signal abnormalities occur after the switch, or the deviation angle exceeds the threshold and multiple fine-tunings still fail to meet the requirements, the ground station immediately activates the backup switchover plan, re-parses the ephemeris parameters, generates an acceleration / deceleration planning sequence, matches suitable satellites, and ensures continuous and stable tracking of subsequent satellites.

[0034] The acceleration / deceleration planning method of this invention is applied to the antenna servo embedded system of a ground control station for low-Earth orbit dense formation satellites. This embedded system is a dual-core architecture of FPGA and MCU, with the FPGA model being XC7K325T and the MCU model being STM32H743. The maximum rotational speed of the control antenna is 10° / s, and the maximum jerk is 5° / s. 2 The orbital altitude of the densely packed satellite formation is 500km, the inter-satellite spacing is within 10km, and the satellite switching tracking time is required to be ≤20s, with an antenna pointing deviation angle ≤0.1°. The following embodiments are all implemented based on this hardware and scenario conditions, and three sets of comparative examples are provided to verify the technical effects of the invention.

[0035] Example 1: A Low-Computational-Overhead Acceleration / Deceleration Planning Method Based on an FPGA and MCU Dual-Core Architecture. This example is a basic implementation of a low-computational-overhead acceleration / deceleration planning method suitable for embedded systems. It is designed for satellite switching scenarios within the same low-Earth orbit dense formation of satellites. The core implementation involves a three-stage low-cost acceleration / deceleration process: ephemeris analysis pre-planning, parameter preloading, and dual-core division of labor. The specific execution steps are as follows: Ephemeris Analysis and Acceleration / Deceleration Planning Sequence Generation: The tracking and control station monitoring unit obtains ephemeris prediction information for a densely packed low-Earth orbit satellite constellation through the satellite tracking and control network. This constellation contains 12 satellites in the same orbit with an inter-satellite spacing of 8 km. The analysis yields orbital parameters such as an orbital inclination of 55°, an orbital velocity of 7.6 km / s, and real-time position coordinates (latitude, longitude, and altitude). Based on these orbital parameters and the geographical coordinates of the antenna tracking and control station, a satellite transit timing and angle calculation model is constructed to predict the transit window and signal attenuation nodes for each satellite. The planned satellite tracking sequence is: Satellite 1 → Satellite 2 → Satellite 3 → … → Satellite 12, with a switching interval of 30 seconds between adjacent satellites. Combining the motion characteristics of the antenna servo system, an acceleration / deceleration planning sequence is generated for each same-orbit switching. The acceleration / deceleration planning parameters for switching from Satellite 1 to Satellite 2 are: a slope of 0.5° / s during the variable acceleration phase. 2 After accelerating to 3° / s, it enters a constant speed phase, moving at a constant speed for 2 seconds before accelerating to 0.5° / s. 2 The slope of the satellite is reduced to a stop, the total rotation angle of the antenna is 8°, and the total motion time is 6s. At the same time, 10s before the signal of satellite 1 attenuates to the set threshold, the acceleration and deceleration planning parameters of satellite 2 are pre-calculated and stored in the cache of the MCU.

[0036] Real-time status monitoring and acceleration / deceleration trigger determination: The monitoring unit continuously monitors the satellite-to-ground link indicators of satellite 1 through the baseband unit, setting the signal strength threshold to -85dBm, the signal-to-noise ratio threshold to 15dB, and the remaining coverage time threshold to 15s. When the signal strength of satellite 1 is detected to drop to -86dBm, the monitoring unit triggers an acceleration / deceleration command. At the same time, it detects that the baseband unit has issued the acceleration / deceleration command. The dual determination result is to execute the acceleration / deceleration operation. Without waiting for the preset time, the motion command is directly issued to the antenna servo system.

[0037] Acceleration / deceleration parameter preloading and embedded hardware adaptation: A dedicated acceleration / deceleration parameter template for this densely packed satellite constellation is pre-built. The template includes motion parameters such as acceleration / deceleration slope during orbital switching, constant velocity segment speed, and total motion distance, as well as telemetry and control parameters such as the satellite's L-band frequency, transmit frequency of 1.5 GHz, receive frequency of 2.2 GHz, QPSK modulation method, and 1 / 2 coding rate. This template is stored in the FPGA's configuration memory at addresses 0x0000-0xFFFF. The embedded system enables dual intermediate frequency channels. Channel A maintains communication with satellite 1 to maintain the antenna's constant velocity tracking state. Channel B directly calls the acceleration / deceleration parameters and telemetry and control parameters of satellite 2 from the FPGA's configuration memory to complete the pre-configuration. The parameter call takes only 0.1 seconds, which is more than 99% faster than the traditional real-time parameter calculation method.

[0038] The three-stage acceleration / deceleration system operates with low computational overhead: After receiving the acceleration / deceleration command, the antenna servo system initiates dual-core computation involving the FPGA and MCU. The MCU is responsible for real-time acquisition of antenna rotation angle, speed, and other status data, sending 10 sets of status information to the FPGA per second. The FPGA is responsible for real-time calculation of acceleration / deceleration parameters and drive control of the mechanical servo. The computational model of the three-stage acceleration / deceleration is simplified by replacing the complex quadratic curve calculations of the variable acceleration and deceleration stages with linear fitting calculations. Only integer and one-digit floating-point calculations for angle and speed are retained, and the high-precision error compensation calculations in the traditional model are removed. The single-step acceleration / deceleration calculation time of the FPGA is reduced from the traditional 0.5ms to 0.05ms. The mechanical servo system drives the antenna movement according to the acceleration / deceleration planning sequence at a speed of 0.5° / s. 2 The slope of the device is accelerated to 3° / s, and after 2 seconds of uniform motion, it is decelerated to a stop. At the same time, the mechanical servo rotates from east to west to compensate for the satellite's orbital drift. The compensation angle is 0.2°, so that satellite 1 and satellite 2 are temporarily within the coverage area of ​​the antenna's main lobe beam. During this process, the FPGA only performs basic parallel operations, the CPU utilization of the MCU is kept below 30%, and the logic resource utilization of the FPGA is kept below 40%, which greatly reduces the computational overhead.

[0039] Status verification and dynamic parameter adaptation after acceleration / deceleration: After the antenna servo system completes the acceleration / deceleration motion, the monitoring unit immediately verifies the satellite-to-ground link status of satellite 2. It detects that the signal strength of satellite 2 is -80dBm and the signal-to-noise ratio is 20dB, indicating a stable signal status. At the same time, the antenna angle sensor detects that the antenna pointing deviation angle is 0.05°, which is less than the data transmission reception threshold of 0.1°, so no acceleration / deceleration fine-tuning is required. Based on the data transmission characteristics of satellite 2, the monitoring unit adapts the antenna tracking speed to 0.1° / s to keep it synchronized with the running speed of satellite 2, thus completing the dynamic parameter adaptation.

[0040] In this embodiment, the total switching and tracking time from satellite 1 to satellite 2 is 18s, which meets the requirement of ≤20s. During the switching process of 12 consecutive satellites in the same orbit, there is no interruption in the satellite-to-ground link. The average CPU utilization rate of the embedded system MCU is 28%, and the average logic resource utilization rate of the FPGA is 38%. Compared with the traditional acceleration and deceleration planning method, the computational overhead is reduced by 62%, and the average deviation angle of the antenna pointing is 0.04°. This achieves low computational overhead and high precision acceleration and deceleration planning and satellite tracking switching.

[0041] The core advantage of this embodiment lies in fully leveraging the hardware advantages of the FPGA plus MCU dual-core architecture. By preloading parameters and simplifying the calculation model, the computational overhead of the embedded system is significantly reduced. At the same time, an adaptive acceleration and deceleration planning sequence is designed in combination with the switching characteristics of satellites in the same orbit, realizing seamless switching and tracking of densely packed satellites in the same orbit. It is suitable for conventional same-orbit telemetry and control scenarios of densely packed low-orbit satellite constellations.

[0042] Example 2 combines an evolutionary algorithm to optimize the cross-orbit acceleration / deceleration planning method for triggering times. Building upon Example 1, this example addresses the complex scenario of cross-orbit switching for densely packed satellite formations. The core of the method is the addition of an evolutionary algorithm to optimize the acceleration / deceleration triggering times. Simultaneously, it adapts the acceleration / deceleration planning parameters to the orbital drift characteristics of the cross-orbit satellites, resolving issues such as large orbital drift, difficulty in controlling triggering times, and the susceptibility to link interruptions during cross-orbit switching. The specific execution steps are as follows: Ephemeris Analysis and Acceleration / Deceleration Planning Sequence Generation: The monitoring unit acquires cross-orbit ephemeris prediction information for a densely packed low-Earth orbit satellite constellation. This constellation contains two adjacent orbits, Orbit A and Orbit B, each containing 8 satellites. The orbital inclination difference between Orbit A and Orbit B is 2°, and the inter-orbital spacing is 15km. The orbital parameters, including orbital inclination, velocity, and position coordinates, of the satellites in both orbits are analyzed. A cross-orbit satellite transit timing and angle calculation model is constructed. It is predicted that after satellite 8 in Orbit A passes through, satellite 1 in Orbit B will enter the field of view of the tracking station. The planned tracking sequence is satellite 8 in Orbit A → satellite 1 in Orbit B. Considering the cross-orbit orbital drift characteristics, a compensation orbital drift angle of 1.5° is used to generate the acceleration / deceleration planning sequence: a slope of 0.6° / s during the variable acceleration phase. 2 After accelerating to 4° / s, it enters a constant speed phase, moving at a constant speed for 3 seconds before accelerating to 0.6° / s. 2 The slope of the deceleration is reduced to a stop, the total rotation angle of the antenna is 12°, and the total motion time is 8s. The acceleration and deceleration parameters of the satellite in orbit B are pre-calculated 12s before the signal attenuation node of satellite A8.

[0043] Real-time status monitoring and acceleration / deceleration trigger determination: The monitoring unit continuously monitors the satellite-to-ground link indicators of orbit A satellite 8, setting a signal strength threshold of -85dBm and a signal-to-noise ratio threshold of 15dB. Simultaneously, an evolutionary algorithm is introduced to optimize the acceleration / deceleration trigger timing. The evolutionary algorithm employs a simplified genetic algorithm. Due to the computational limitations of the embedded system, the number of iterations is simplified, reducing the traditional 100 iterations to 20. The MCU is responsible for the algorithm's iterative calculations, with the MCU's CPU utilization controlled below 40%. The algorithm uses "uninterrupted link, shortest acceleration / deceleration duration, and lowest computational overhead" as its objective function. The iterative calculation yields the optimal acceleration / deceleration trigger timing as "satellite 8 remaining coverage time of 18s and signal strength of -83dBm." When the monitoring unit detects the arrival of this trigger timing, it triggers the acceleration / deceleration command. Simultaneously, it detects that the baseband unit has issued the acceleration / deceleration command, and after dual determination, executes the acceleration / deceleration operation.

[0044] Acceleration / deceleration parameter preloading and embedded hardware adaptation: Based on the parameter template of Example 1, an acceleration / deceleration parameter sub-template for cross-orbit switching is added, including parameters such as orbital drift compensation angle, cross-orbit acceleration / deceleration slope, and constant speed segment velocity. The sub-template and the telemetry and control parameters of orbit B satellite are stored together in the 0x10000-0x1FFFF address segment of the FPGA configuration memory. The dual intermediate frequency channels work synchronously. Channel A maintains the tracking state of orbit A satellite 8, and channel B pre-configures the acceleration / deceleration parameters and telemetry and control parameters of orbit B satellite 1. At the same time, the FPGA pre-loads the cross-orbit beam direction adjustment parameters and adjusts the beam width in conjunction with the acceleration / deceleration movement of the antenna, so that the beam coverage range is expanded to 20km to meet the coverage requirements of cross-orbit satellites.

[0045] The three-stage acceleration / deceleration system operates with low computational overhead: After the acceleration / deceleration command is issued, the FPGA and MCU dual-core processors perform computational tasks. The MCU is responsible for the iteration of the evolutionary algorithm and the acquisition of state data, while the FPGA is responsible for the parallel computation of acceleration / deceleration parameters, cross-track beam adjustment, and mechanical servo drive. The cross-track three-stage acceleration / deceleration computation model is further simplified by fusing the angle calculation for track drift compensation with the acceleration / deceleration calculation for antenna rotation, avoiding computational redundancy caused by independent computation. The FPGA's single-step fusion computation takes only 0.06ms, maintaining low computational overhead. The mechanical servo system drives the antenna to move according to the planned sequence at a speed of 0.6° / s. 2 The slope is accelerated to 4° / s, and after 3 seconds of uniform motion, it is decelerated to a stop. At the same time, it rotates from east to west to compensate for 1.5° of orbital drift. During the acceleration and deceleration, the antenna beamwidth is adjusted from 5° to 8° so that satellite A8 and satellite B1 are simultaneously within the coverage of the main lobe beam. During this process, the peak CPU utilization of the MCU is 39%, and the peak logic resource utilization of the FPGA is 45%, with no operational lag.

[0046] Status verification and dynamic parameter adaptation after acceleration / deceleration: After the antenna completes the acceleration / deceleration motion, the monitoring unit verifies the link status of orbit B satellite 1. It detects a signal strength of -79dBm and a signal-to-noise ratio of 22dB, indicating signal stability. The antenna pointing deviation angle is 0.06°, meeting the data transmission reception requirements. Based on the data downlink characteristics of orbit B satellite 1, the monitoring unit adapts the acceleration / deceleration fine-tuning slope to 0.2° / s. 2 The tracking speed is adapted to 0.12° / s. At the same time, the acceleration and deceleration parameter template in the FPGA is switched to the exclusive template of orbit B to prepare for the subsequent satellite switching in orbit B. If the signal is abnormal after the cross-orbit switching, the backup switching scheme is immediately activated, the ephemeris parameters of orbit B satellite 2 are re-analyzed, and a new acceleration and deceleration planning sequence is generated to ensure the continuity of tracking.

[0047] In this embodiment, the total tracking time for the cross-orbit handover from satellite A8 to satellite B1 is 15 seconds, far below the requirement of 20 seconds. The satellite-to-ground link remains uninterrupted during the handover. The average CPU utilization of the embedded system MCU is 35%, and the average logic resource utilization of the FPGA is 42%. The computational overhead is reduced by 71% compared to traditional cross-orbit acceleration / deceleration planning methods, and the average antenna pointing deviation angle is 0.05°. The core advantage of this embodiment lies in the simplified evolutionary algorithm embedded into the embedded system, achieving scientific optimization of acceleration / deceleration trigger times. Simultaneously, a fusion-based acceleration / deceleration planning model is designed to adapt to the orbital drift characteristics of cross-orbit operations, solving the problems of high computational overhead and difficulty in controlling trigger times during cross-orbit handover. This model is suitable for cross-orbit telemetry and control scenarios involving densely packed satellite formations.

[0048] Example 3: A Multi-Satellite Continuous Handover Acceleration / Deceleration Planning Method with Dual Intermediate Frequency Channels. Building upon Examples 1 and 2, this example is designed for the demanding scenario of continuous handover of multiple satellites in dense formations. The core enhancement is the strengthening of the collaborative working mechanism of the dual intermediate frequency channels. It employs an FPGA with dual buffers to store parameter templates, enabling preloading and parallel planning of acceleration / deceleration parameters for multiple satellites. This solves the problems of parameter loading delay and accumulated computational overhead in continuous handover of multiple satellites. The specific execution steps are as follows: Ephemeris Analysis and Acceleration / Deceleration Planning Sequence Generation: The monitoring unit acquires ephemeris prediction information for continuous multi-satellite switching of a densely packed low-Earth orbit satellite constellation. This constellation contains 3 adjacent orbits and a total of 24 satellites. Continuous relay tracking of all 24 satellites is required. The orbital parameters and transit timing of all satellites are analyzed. A transit timing and angle calculation model for continuous multi-satellite switching is constructed, predicting a switching interval of 25 seconds for each satellite. A continuous tracking sequence for the 24 satellites is planned, and a corresponding acceleration / deceleration planning sequence is generated for each switching. The sequences are stored in the MCU's circular buffer according to the tracking order, realizing continuous pre-generation of acceleration / deceleration planning sequences. Eight seconds before the current satellite signal attenuation node, the acceleration / deceleration parameters of the next two satellites are pre-calculated to prepare for continuous multi-satellite switching.

[0049] Real-time status monitoring and acceleration / deceleration trigger determination: The monitoring unit adopts a multi-channel parallel monitoring mechanism to simultaneously monitor the link indicators of the currently tracked satellite, the next target satellite, and the next two reserve satellites. The dual determination conditions for acceleration / deceleration triggering of multi-satellite continuous switching are set as "current satellite data transmission completed / link quality deteriorated" and "target satellite enters the field of view threshold". For the scenario of multi-satellite continuous switching, the objective function of the evolutionary algorithm is optimized to "continuous switching without interruption, stable embedded system computational overhead, and no impact on antenna movement". After simplification and iteration, the MCU performs real-time optimization to ensure that the triggering time of each switching is optimal.

[0050] Acceleration / deceleration parameter preloading and embedded hardware adaptation: A dual-buffer structure is built in the FPGA configuration memory. Buffer 1 stores the parameter templates of the currently tracked satellite and the next target satellite, and buffer 2 stores the parameter templates of the next two reserve satellites. The dual buffers adopt a ping-pong operation mode. When the parameters of buffer 1 are called, buffer 2 synchronously loads the parameter templates of the subsequent satellites to achieve seamless parameter preloading. The dual intermediate frequency channels are upgraded to a multi-parameter collaborative working mode. Channel A is responsible for tracking and maintaining the acceleration / deceleration of the current satellite, while channel B not only pre-configures the acceleration / deceleration and telemetry parameters of the next target satellite, but also receives the ephemeris parameters of the reserve satellites in real time to achieve parallel parameter processing. The parameter loading time of the FPGA's dual buffers is controlled within 0.1s, which fully meets the requirement of a 25s switching interval.

[0051] Low computational overhead execution of three-stage acceleration / deceleration: During continuous multi-satellite handover, the FPGA plus MCU dual-core architecture maintains continuous low-power operation. The MCU is responsible for parallel monitoring of multi-satellite link indicators, continuous distribution of acceleration / deceleration planning sequences, and iteration of evolutionary algorithms. The FPGA is responsible for parameter scheduling in dual buffers, parallel computation of acceleration / deceleration parameters for multiple satellites, seamless switching of dual intermediate frequency channels, and continuous drive of mechanical servos. The three-stage acceleration / deceleration operation model is globally simplified, and a general acceleration / deceleration operation module suitable for continuous multi-satellite handover is constructed. This module can directly call parameter templates from different satellites to perform calculations, without... The computational model needs to be rebuilt to further reduce computational overhead. The mechanical servo system realizes the shock-free continuous acceleration and deceleration motion of the antenna according to the continuous acceleration and deceleration planning sequence. Each antenna movement during switching adopts a three-stage control of variable acceleration-uniform speed-variable deceleration. At the same time, it is combined with beam direction adjustment and orbit drift compensation to ensure that the source satellite and the target satellite are within the beam coverage range during each switching process. During the continuous switching of multiple satellites, the CPU utilization rate of the MCU is stable at about 35%, the logic resource utilization rate of the FPGA is stable at about 48%, there is no accumulation of computational overhead, and the embedded system operates smoothly.

[0052] Status verification and dynamic parameter adaptation after acceleration / deceleration: After each acceleration / deceleration motion, the monitoring unit verifies the link status and antenna pointing accuracy of the target satellite within 0.5 seconds. If the deviation angle is within the range of 0.01° to 0.1°, the FPGA performs micro-acceleration / deceleration fine-tuning, which takes only 0.02ms and adds almost no computational overhead. If the deviation angle exceeds 0.1° or the signal is abnormal, the backup switching scheme is immediately activated. The FPGA directly calls the parameter template of the backup satellite from the dual buffer and regenerates the acceleration / deceleration planning sequence to achieve rapid switching of the backup satellite. The total backup switching time is controlled within 10 seconds. After each switching, the monitoring unit dynamically adapts the acceleration / deceleration and telemetry parameters according to the characteristics of the target satellite and updates the parameter template of the FPGA dual buffer to prepare for the next switching.

[0053] In this embodiment, the average switching time per satellite in the continuous switching tracking of 24 densely packed formation satellites is 12 seconds, and the shortest switching time is 10 seconds, both meeting the requirement of ≤20 seconds. During the continuous switching process, the satellite-to-ground link is uninterrupted, and there is no data loss. The average CPU utilization rate of the embedded system MCU is 34%, and the average logic resource utilization rate of the FPGA is 47%. The computational overhead is reduced by 76% compared to traditional multi-satellite continuous switching acceleration / deceleration planning methods, and the average antenna pointing deviation angle is 0.03°. The core advantage of this embodiment lies in the collaborative working mechanism of the FPGA's dual buffer and dual intermediate frequency channels, which achieves seamless preloading and parallel planning of multi-satellite acceleration / deceleration parameters. This solves the problems of accumulated computational overhead and parameter loading delay in multi-satellite continuous switching, making it suitable for high-requirement scenarios of large-scale multi-satellite continuous relay tracking of densely packed formation satellites.

[0054] To verify the technical effectiveness of this invention, three sets of control examples were set up, all based on the same hardware and scenario conditions as the above embodiments. Traditional acceleration / deceleration planning methods were used to achieve tracking and switching of densely packed satellite formations. The design and experimental results of the control examples are as follows: Comparison with Example 1: A traditional acceleration / deceleration planning method without pre-planning is used. This method lacks parameter templates and dual-core processing. During satellite handover, ephemeris parameters are analyzed in real-time, and acceleration / deceleration parameters are calculated. A single intermediate frequency channel is used for satellite communication. Experimental results: The tracking time for handover between satellites in the same orbit is 45 seconds, and the handover time between different orbits is 60 seconds. During continuous handover of multiple satellites, computational overhead accumulates, with the MCU's CPU utilization exceeding 95% and the FPGA's logic resource utilization exceeding 90%. The embedded system experiences computational lag, the satellite-to-ground link interruption rate is 32%, and the average antenna pointing deviation angle is 0.35°, failing to meet the rapid handover requirements of densely packed satellite formations.

[0055] Comparison with Example 2: A three-stage acceleration / deceleration method with pre-planning but without optimization for low computational overhead was adopted. A parameter template was established but the computational model was not simplified, retaining a large amount of high-precision floating-point operations. The FPGA and MCU dual-core system was not divided in terms of workload, with the MCU solely responsible for all calculations. Experimental results: The tracking time for satellite switching within the same orbit was 35 seconds, and the switching time across orbits was 42 seconds. The MCU's CPU utilization reached over 80%, while the computational overhead was reduced by only 21%. The average antenna pointing deviation angle was 0.18°. During some switching processes, the link was briefly interrupted due to excessive floating-point operation time, with an interruption rate of 15%.

[0056] Comparison with Example 3: A single FPGA embedded system was used, without MCU division of labor. Parameter templates were established and stored in a single buffer, simplifying some computational models. Dual intermediate frequency channels were used, but collaborative operation was not achieved. Experimental results: The tracking time for satellite switching within the same orbit was 28s, and the switching time across orbits was 30s. During continuous switching of multiple satellites, there was a delay in loading parameters in the single buffer, with a loading time of 0.8s. The computational overhead was reduced by 41%, the MCU's CPU utilization rate was 65%, the average antenna pointing deviation angle was 0.12°, and two brief link interruptions occurred during continuous switching.

[0057] Comparing the experimental results of Examples 1-3 and Comparative Examples 1-3 of this invention, it is clear that the low-computational-overhead acceleration / deceleration planning method of this invention, applicable to embedded systems, significantly shortens the switching and tracking time of densely packed satellite formations through ephemeris analysis pre-planning, parameter preloading, dual-core division of labor, simplified computational model, and evolutionary algorithm optimization. This significantly reduces the computational overhead of embedded systems, improves antenna pointing accuracy and tracking switching stability, and ensures uninterrupted satellite-to-ground links, fully meeting the engineering application requirements of ground-based telemetry and control for densely packed satellite formations. This invention can be directly applied to the antenna servo embedded system of ground-based telemetry and control equipment for low-Earth orbit densely packed satellite formations, without requiring large-scale modifications to existing hardware. It can be achieved solely through software algorithm optimization and parameter template configuration, resulting in low modification costs, easy deployment, and high computational efficiency. This invention effectively solves the problems of high computational overhead, delayed antenna response, and easy link interruption in embedded systems during tracking and switching of densely packed satellite formations, enabling rapid switching and relay tracking of densely packed satellite formations. It can be widely applied to low-Earth orbit densely packed satellite telemetry, tracking, and control engineering in fields such as land monitoring, meteorological early warning, global Internet of Things, and space science experiments, demonstrating significant industrial practicality and promotional value.

[0058] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of protection claimed by the present invention. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A rapid switching relay tracking method for densely arrayed satellites, applied to the antenna servo embedded system of ground telemetry and control equipment for densely arrayed satellites, characterized in that, Includes the following steps: 1) Ephemeris analysis and acceleration / deceleration planning sequence generation: The ground control equipment monitoring unit obtains the ephemeris prediction information of densely packed satellites, analyzes it to obtain orbital parameters such as orbital inclination, speed, and position coordinates, plans satellite tracking sequences based on parameters, and generates acceleration / deceleration planning sequences in combination with antenna motion characteristics. It clarifies the acceleration / deceleration motion parameters and succession order from the source satellite to the target satellite, and adjusts the acceleration / deceleration planning parameters according to the orbital drift characteristics of adjacent orbital satellites when switching across orbits. 2) Real-time status monitoring and acceleration / deceleration trigger determination: Continuously monitor the signal strength, signal-to-noise ratio, and remaining satellite coverage time of the satellite-to-ground link. When the data transmission is completed or the link quality deteriorates, an acceleration / deceleration command is triggered. At the same time, it is determined whether the preset acceleration / deceleration time has been reached. The dual determination avoids false triggering. In some scenarios, the acceleration / deceleration trigger time is optimized through evolutionary algorithms. 3) Acceleration and deceleration parameter preloading and embedded hardware adaptation: Establish an acceleration and deceleration parameter template for densely packed satellite formations. Store the template along with the satellite frequency band and transmission and reception frequency measurement and control parameters in the FPGA configuration memory. The embedded system adopts a dual intermediate frequency channel design. Channel A maintains the current satellite's acceleration and deceleration motion, while channel B pre-configures the acceleration and deceleration parameters of the target satellite. 4) Low computational overhead execution of three-stage acceleration and deceleration: After receiving the acceleration and deceleration command, the antenna servo system coordinates with the antenna through mechanical servo and adopts a three-stage motion control of variable acceleration-uniform speed-variable deceleration. This simplifies the three-stage calculation model and reduces floating-point calculations. The embedded MCU is responsible for status monitoring and command issuance, while the FPGA is responsible for real-time acceleration and deceleration calculations, so as to realize precise adjustment of antenna pointing and track drift compensation. 5) Status verification and dynamic parameter adaptation after acceleration and deceleration: Verify the signal stability of the target satellite and the antenna pointing deviation angle, adapt the frequency band and transmission rate parameters according to the data transmission characteristics of the target satellite, and if the signal is abnormal, start the backup switching scheme, regenerate the acceleration and deceleration planning sequence and match the appropriate satellite.

2. The method for rapid switching and relay tracking of densely packed satellite formations according to claim 1, characterized in that: When generating the acceleration / deceleration planning sequence in step 1), the signal attenuation node of the currently tracked satellite is predicted in advance by combining the satellite transit timing and angle calculation model, and the antenna pointing acceleration / deceleration parameters of the target satellite are pre-calculated before the signal attenuates to a set threshold.

3. The method for rapid switching and relay tracking of densely packed satellite formations according to claim 1, characterized in that: The execution logic of the dual determination in step 2) is as follows: if no acceleration or deceleration command is received from the baseband unit, it is further determined whether the preset acceleration or deceleration time has been reached. If either condition is met, the acceleration or deceleration operation is performed.

4. The method for rapid switching and relay tracking of densely packed satellite formations according to claim 1, characterized in that: The acceleration / deceleration parameter template mentioned in step 3) contains the acceleration / deceleration slope of the antenna motion, the speed of the constant speed segment, the total motion distance, and the basic parameters of satellite telemetry and control. The template does not need to be recalculated when it is called and can be directly read through the FPGA configuration memory.

5. The method for rapid switching and relay tracking of densely packed satellite formations according to claim 1, characterized in that: The simplified calculation method for the three-stage motion control described in step 4) is as follows: linear fitting is used to replace complex curve calculations in the variable acceleration and variable deceleration stages, redundant high-precision floating-point calculation steps are deleted, and only integer and simple floating-point operations that can be efficiently executed by the embedded system are retained.

6. The method for rapid handover and relay tracking of densely packed satellite formations according to claim 1, characterized in that: The orbital drift compensation mentioned in step 4) is as follows: the antenna servo system compensates for the orbital drift of the densely packed satellites by accelerating and decelerating the rotation from east to west through mechanical servo, so that the source satellite and the target satellite are temporarily within the coverage range of the antenna main lobe beam.

7. The method for rapid handover and relay tracking of densely packed satellite formations according to claim 1, characterized in that: In step 5), the antenna pointing deviation angle needs to be controlled within the threshold range required for densely arrayed satellite data transmission reception. If the threshold is exceeded, an acceleration / deceleration fine-tuning command will be triggered.

8. The method for rapid handover and relay tracking of densely packed satellite formations according to claim 1, characterized in that: The triggering condition for the backup switching scheme described in step 5) is: after acceleration and deceleration are completed, the target satellite signal continues to be abnormal for more than the preset time, or the antenna pointing deviation angle cannot meet the data transmission reception requirements even after multiple fine adjustments.

9. The method for rapid handover and relay tracking of densely packed satellite formations according to claim 1, characterized in that: The embedded system uses a dual-core architecture of FPGA and MCU. The FPGA is responsible for acceleration and deceleration calculations, parameter storage, and switching control of the dual intermediate frequency channels, while the MCU is responsible for ephemeris analysis, status monitoring, and iterative calculations of the evolutionary algorithm.

10. The method for rapid switching and relay tracking of densely packed satellite formations according to claim 1, characterized in that: When generating acceleration / deceleration planning sequences, in low-Earth orbit satellite systems, adjacent satellites that subsequently enter the terminal's field of view in the source satellite's orbit are set as priority switching targets, and the acceleration / deceleration planning sequences generated for these targets are designed using the principle of the shortest motion path.

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