Inter-satellite laser communication on-orbit calibration method, device, satellite and system

Abstract

The application relates to the technical field of satellite laser communication. The application discloses an intersatellite laser communication in-orbit calibration method, device, satellite and system, which can realize parallel initiation and cooperative execution of multi-satellite calibration tasks and improve the networking efficiency of a large-scale constellation. The method comprises the following steps: acquiring visible state information of each satellite in an intersatellite laser communication system; based on the visible state information of all satellites in the intersatellite laser communication system, performing calibration processing on all satellites in the intersatellite laser communication system in a parallel calibration mode to obtain a first final calibration result; judging whether all satellites complete calibration based on the first final calibration result to obtain a first judgment result; in the case that the first judgment result is that not all satellites complete calibration, performing calibration processing on all uncalibrated satellites in a cooperative calibration mode to obtain a second final calibration result; and the second final calibration result is used for reflecting that all satellites have completed calibration.

Description

Technical Field

[0001] This application relates to the field of satellite laser communication technology. More specifically, this application relates to an on-orbit calibration method, apparatus, satellite, and system for inter-satellite laser communication. Background Technology

[0002] Inter-satellite laser communication, with its core advantages such as high transmission rate, strong anti-interference capability, large bandwidth, and good confidentiality, has become a key supporting technology for the construction of low-Earth orbit satellite internet and integrated space-air-ground communication networks. Pointing, acquisition, and tracking (PAT) is the core link to ensure the stable establishment of inter-satellite laser communication links, and on-orbit calibration, as a key technology for calibrating PAT system errors, directly determines the link establishment efficiency, stability, and overall network availability of inter-satellite links, and is one of the core bottlenecks in the deployment of large-scale space-based communication networks.

[0003] With the development of space launch technology, launching multiple satellites at once has become the mainstream method for large-scale deployment of low-Earth orbit satellite constellations. The size of these constellations has expanded from hundreds to thousands or even tens of thousands of satellites, creating an urgent need for rapid inter-satellite link establishment and networking to quickly establish communication capabilities. However, current mainstream on-orbit calibration technology for inter-satellite laser communication is still limited to a "point-to-point" serial calibration paradigm. That is, calibration and link establishment are completed one by one between individual satellites before gradually expanding to the entire constellation, which cannot meet the networking requirements of large-scale constellations. Summary of the Invention

[0004] The purpose of this application is to provide an on-orbit calibration method, apparatus, satellite, and system for inter-satellite laser communication, which enables the parallel initiation and coordinated execution of multi-satellite calibration tasks, improving the networking efficiency of large-scale constellations. This application is mainly achieved through the following technical solutions: A first aspect of this application provides an on-orbit calibration method for inter-satellite laser communication, comprising: The visual status information of each satellite in the inter-satellite laser communication system is obtained. The visual status information of each satellite is all the observed satellites within the visual window of each satellite. Based on the visible status information of all satellites in the inter-satellite laser communication system, a parallel calibration method is used to perform calibration processing on all satellites in the inter-satellite laser communication system to obtain the first final calibration result; Based on the first final calibration result, determine whether all satellites have completed calibration, and obtain the first judgment result; If the first judgment result indicates that not all calibrations have been completed, a collaborative calibration method is used to perform calibration processing on all uncalibrated satellites in the inter-satellite laser communication system to obtain a second final calibration result. The second final calibration result is used to reflect that all satellites have been calibrated.

[0005] According to one embodiment of this application, the step of performing calibration processing on all satellites in the inter-satellite laser communication system using a parallel calibration method based on the visible status information of all satellites in the inter-satellite laser communication system to obtain a first final calibration result includes: The satellite distribution probability density in the four quadrants surrounding each satellite is calculated based on the visible state information of each satellite in the inter-satellite laser communication system. The first calibration command is sent to each satellite so that each satellite performs random spiral scanning, acquisition and calibration processing according to the corresponding satellite distribution probability density, and obtains and feeds back the first sub-calibration result for each satellite; After receiving the first sub-calibration results for all satellites, the first sub-calibration results are combined to form the first final calibration result.

[0006] According to one embodiment of this application, after receiving the first sub-calibration results corresponding to all satellites, the step of performing calibration processing on all satellites in the inter-satellite laser communication system using a parallel calibration method based on the visual status information of all satellites in the inter-satellite laser communication system to obtain the first final calibration result further includes: The first sub-calibration result corresponding to each satellite in the inter-satellite laser communication system is verified to obtain the first verification result corresponding to each satellite in the inter-satellite laser communication system. If the first verification result is successful, the satellite corresponding to the first verification result is marked as a reference node, and the node information corresponding to the reference node is stored and processed.

[0007] According to one embodiment of this application, when the first determination result is that not all calibrations have been completed, the step of using a collaborative calibration method to calibrate all uncalibrated satellites in the inter-satellite laser communication system to obtain a second final calibration result includes: All beams from the reference nodes within the visual window of the target uncalibrated satellite are directed towards the target uncalibrated satellite, which is one of the uncalibrated satellites in the inter-satellite laser communication system; Send a second calibration command to the target uncalibrated satellite to cause the target uncalibrated satellite to perform random spiral scanning, acquisition and calibration processing, and obtain and feed back the second sub-calibration result corresponding to the target uncalibrated satellite; After all uncalibrated satellites in the inter-satellite laser communication system have completed calibration processing and the second sub-calibration results corresponding to all uncalibrated satellites have been received, all the second sub-calibration results are used to form the second final calibration result.

[0008] According to one embodiment of this application, the step of selecting the target uncalibrated satellite includes: Obtain the acquisition probability of all satellites in the inter-satellite laser communication system; According to the first preset rule, a target probability is selected from all acquisition probabilities, and the uncalibrated satellite corresponding to the target probability is taken as the target uncalibrated satellite, wherein the target probability is the acquisition probability of one of the uncalibrated satellites in the inter-satellite laser communication system.

[0009] According to one embodiment of this application, the first preset rule is to select the highest probability value among all capture probabilities as the target probability.

[0010] According to one embodiment of this application, the on-orbit calibration method for inter-satellite laser communication further includes: In the inter-satellite laser communication system, the beams of all satellites are pointed in real time to the corresponding ground equipment in the inter-satellite laser communication system. When a target beam appears in the camera view of the target ground device, the target ground device and the satellite corresponding to the target beam perform calibration processing to obtain a second sub-calibration result. Here, the target ground device is any ground device in the inter-satellite laser communication system, and the target beam is any beam from any of the satellites.

[0011] A second aspect of this application provides an on-orbit calibration device for inter-satellite laser communication, comprising: The variable sensing module is used to acquire the visual status information of each satellite in the inter-satellite laser communication system. The visual status information of each satellite is all the observed satellites within the visual window of each satellite. The parallel calibration planning module is used to perform calibration processing on all satellites in the inter-satellite laser communication system based on the visible status information of all satellites in the inter-satellite laser communication system, and obtain the first final calibration result. The collaborative calibration planning module is used to determine whether all satellites have completed calibration based on the first final calibration result, and obtain a first judgment result; if the first judgment result is that not all satellites have completed calibration, the collaborative calibration method is used to perform calibration processing on all uncalibrated satellites in the inter-satellite laser communication system to obtain a second final calibration result, which reflects that all satellites have completed calibration.

[0012] A third aspect of this application provides a satellite, including a processor and a memory, the memory for storing a computer program, and the processor for calling and running the computer program stored in the memory to perform the steps of the on-orbit calibration method for inter-satellite laser communication provided in the first aspect of this application.

[0013] A fourth aspect of this application provides an inter-satellite laser communication system, including multiple satellites provided in the third aspect of this application and multiple ground devices, all of which are communicatively connected, and each ground device is communicatively connected to multiple satellites.

[0014] The beneficial effects of the embodiments of this application include: This application proposes a combined strategy of "parallel calibration + collaborative calibration" to achieve large-scale constellation networking tasks. Specifically, this application acquires the visual status information of each satellite in the inter-satellite laser communication system, where the visual status information of each satellite includes all observed satellites within its visual window. Based on the visual status information of all satellites in the inter-satellite laser communication system, a parallel calibration method is used to calibrate all satellites in the system, obtaining a first final calibration result. Based on the first final calibration result, it is determined whether all satellites have completed calibration, obtaining a first judgment result. If the first judgment result indicates that not all satellites have completed calibration, a collaborative calibration method is used to calibrate all uncalibrated satellites in the inter-satellite laser communication system, obtaining a second final calibration result. The second final calibration result reflects that all satellites have completed calibration. Compared with the existing "point-to-point" serial calibration paradigm, the parallel calibration method and collaborative calibration method proposed in this application can achieve parallel initiation and collaborative execution of multi-satellite calibration tasks, improving the networking efficiency of large-scale constellations. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this application or the conventional technology, the drawings used in the description of the embodiments or the conventional technology will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 Flowcharts of some embodiments of the on-orbit calibration device for inter-satellite laser communication according to this application; Figure 2 Flowcharts of the on-orbit calibration device for inter-satellite laser communication in this application in other embodiments; Figure 3 A reference diagram showing the connectivity between multiple satellites; Figure 4 A reference diagram showing the connectivity between multiple satellites; Figure 5 This is a reference diagram showing the connectivity between ground equipment and multiple satellites. Detailed Implementation

[0017] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0018] It should be noted that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0019] The terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or illustration. Any embodiment or design described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of terms such as "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0020] The terms “comprising,” “including,” or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, system, product, or apparatus that includes a series of steps or units is not necessarily limited to those steps or units that are expressly listed, but may include other steps or units that are not expressly listed or that are inherent to such process, method, product, or apparatus.

[0021] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and / or" as used in this application includes any and all combinations of one or more of the associated listed items.

[0022] The specific embodiments of this application will be further described below with reference to the accompanying drawings.

[0023] refer to Figure 1 The diagram shown is a flowchart of an on-orbit calibration method for inter-satellite laser communication provided in the first aspect of an embodiment of this application. Figure 1 The on-orbit calibration method for inter-satellite laser communication includes: S1. Obtain the visual status information of each satellite in the inter-satellite laser communication system. The visual status information of each satellite is all the observed satellites within the visual window of each satellite.

[0024] In other embodiments, while acquiring the visual status information of each satellite, the satellite size, distribution location, and number of beams per satellite of the inter-satellite laser communication system can also be acquired.

[0025] All observed satellites within the viewport of each satellite, that is, all satellites within the viewport of each satellite. S2. Based on the visual status information of all satellites in the inter-satellite laser communication system, a parallel calibration method is used to calibrate all satellites in the inter-satellite laser communication system to obtain the first final calibration result. (Reference) Figure 2 The "parallel calibration" step in the process.

[0026] Furthermore, based on the visible state information of all satellites in the inter-satellite laser communication system, the step of performing calibration processing on all satellites in the inter-satellite laser communication system using a parallel calibration method to obtain the first final calibration result includes: calculating the satellite distribution probability density in the four quadrants surrounding each satellite based on the visible state information of each satellite in the inter-satellite laser communication system; sending a first calibration command to each satellite so that each satellite performs random spiral scanning, acquisition, and calibration processing according to the corresponding satellite distribution probability density, obtaining and feeding back the first sub-calibration result corresponding to each satellite; and after receiving the first sub-calibration results corresponding to all satellites, constructing the first final calibration result from all the first sub-calibration results.

[0027] In practical applications, the parallel calibration method is used to calibrate all satellites in the inter-satellite laser communication system to obtain the first final calibration result. The steps can be implemented by referring to the following example steps t0-t2 (the connectivity between multiple satellites can be referred to...). Figure 4 ): t0: Based on ephemeris information (which can be understood as the visible status information of all satellites in the inter-satellite laser communication system), the probability density of satellite distribution in the four quadrants around each satellite is calculated; t1: Each satellite performs a spiral scan according to the corresponding satellite distribution probability density, realizing random parallel scanning between each satellite and any two (or any number) nodes in the inter-satellite laser communication system other than itself. The nodes mentioned in this article refer to satellites. t2: Perform multiple rounds of calibration, repeating the above t0 and t1 processes. t0, t1, and t2 represent different time points.

[0028] S3. Based on the first final calibration result, determine whether all satellites have completed calibration and obtain the first judgment result.

[0029] The first judgment result is either that the calibration has not been fully completed or that the calibration has been fully completed.

[0030] S4. If the first judgment result indicates that not all calibrations have been completed, a collaborative calibration method is used to calibrate all uncalibrated satellites in the inter-satellite laser communication system to obtain a second final calibration result. This second final calibration result reflects that all satellites have completed calibration. (Reference) Figure 2 The "collaborative calibration" step in the process.

[0031] Furthermore, in the case where the first judgment result indicates that not all calibrations have been completed, the step of using a collaborative calibration method to perform calibration processing on all uncalibrated satellites in the inter-satellite laser communication system to obtain a second final calibration result includes: pointing the beams of the reference nodes within the visual window of the target uncalibrated satellite, where the target uncalibrated satellite is one of the uncalibrated satellites in the inter-satellite laser communication system; sending a second calibration command to the target uncalibrated satellite to enable it to perform random spiral scanning, acquisition, and calibration processing, thereby obtaining and feeding back the second sub-calibration result corresponding to the target uncalibrated satellite; and after all uncalibrated satellites in the inter-satellite laser communication system have completed calibration processing and all the second sub-calibration results corresponding to the uncalibrated satellites have been received, constructing the second final calibration result from all the second sub-calibration results.

[0032] Furthermore, the step of selecting the target uncalibrated satellite includes: obtaining the acquisition probability of all satellites in the inter-satellite laser communication system; selecting the target probability from all acquisition probabilities according to a first preset rule, and taking the uncalibrated satellite corresponding to the target probability as the target uncalibrated satellite, wherein the target probability is the acquisition probability of one of the uncalibrated satellites in the inter-satellite laser communication system.

[0033] Furthermore, the first preset rule selects the highest probability value among all acquisition probabilities as the target probability. In practical applications, if the first judgment result indicates that not all calibrations have been completed, a collaborative calibration method is used to calibrate all uncalibrated satellites in the inter-satellite laser communication system to obtain the second final calibration result. This can be achieved by referring to steps T0-T4 below (the connectivity between multiple satellites can be referenced). Figure 3 (as shown) T0: Based on ephemeris information, calculate the probability of each satellite being captured within the visible range during the T1-T2 time period, and find that satellite A (i.e., satellite A) has the highest probability of being captured by terminal 1. T1: Point satellites B, C, and D within the field of view of satellite A's terminal unit to the position of satellite A in real time and emit beams; T2: The first-end camera of satellite A selects the center point for spiral scanning according to the probability density distribution. Any beam from satellites B, C, D, or F appears in the camera window. If it is a beam from the second-end camera of satellite B, it is immediately captured and calibration is performed to obtain the relative positions of A1 (i.e., the first-end camera of satellite A) and B2 (i.e., the second-end camera of satellite B). The data table is then updated. For example, the format of the data table can be seen in Table 1 below. T3: After the calibration of terminal 1 of satellite A and terminal 2 of satellite B is completed, calculate the connectivity time between A1 and B2; T4: If the connection time is sufficient, calibrate the other terminals of satellite A, such as terminals 2, 3, and 4, with terminal 2 of satellite B, and then swap satellites A and B, repeating this process. If the connection time is insufficient, recalculate the acquisition probability of each satellite and repeat the above process. In the above process, T0, T1, T2, T3, and T4 represent different times.

[0034] Table 1:

[0035] In Table 1, The calibration information representing the self-calibrated calibration of Star A; The calibration information represents satellites A and B; The calibration information represents satellites A and C; The calibration information represents satellites B and A; The calibration information representing the self-calibrated calibration of Star B; The calibration information represents satellites B and C; The calibration information represents C-star and A-star; The calibration information represents satellites C and B; This represents the calibration information for C-star's self-calibration.

[0036] Furthermore, , , , , , , , and All data formats can be referenced. The data format. The data format is The status bit can be set to 0, 1, or 2. For example, before satellites A and B have been calibrated, [the status bit will be set to 0, 1, or 2]. The status bit in the system is set to 0; after calibration of satellites A and B, then... The status bit in the satellite is set to 1; after calibration between satellite A and ground equipment, the corresponding status bits for satellite A and ground equipment are set to 2. The position information can be azimuth and elevation angles, etc.

[0037] Through the above embodiments, the embodiments of the present application design a combined strategy of "parallel calibration + collaborative calibration" to achieve the networking task of large-scale constellations. Compared with the prior art of the "point-to-point" serial calibration paradigm, the parallel calibration method and the collaborative calibration method proposed in the embodiments of the present application can initiate and execute the multi-satellite calibration tasks in parallel, improve the networking efficiency of large-scale constellations, and completely change the inefficient mode of calibrating single satellites one by one.

[0038] After the network-wide calibration is completed in the embodiments of the present application, the pointing accuracy errors of each satellite are controlled within a preset threshold, and the success rate of establishing inter-satellite links is extremely high, which can meet the requirements of rapid networking and stable communication of large-scale constellations.

[0039] The pointing accuracy in the present application refers to the angular deviation between the actual emission optical axis (i.e., the actual pointing vector) of the laser terminal of the satellite and the theoretical pointing vector, and its calculation process is deeply bound to the "parallel calibration + collaborative calibration" process of the present application. The pointing accuracy has the following calculation formula: ; where is the azimuth angle in the actual pointing vector of the laser terminal of the satellite; is the pitch angle in the actual pointing vector of the laser terminal of the satellite; is the azimuth angle in the theoretical pointing vector of the laser terminal of the satellite; is the pitch angle in the theoretical pointing vector of the laser terminal of the satellite. If is less than or equal to the third preset threshold, it is determined that the calibration is qualified. Exemplarily, the third preset threshold can be 0.1 mrad (mrad refers to milliradian, which is an angular unit).

[0040] The calculation of the theoretical pointing vector is to collect the satellite orbit parameters (latitude, longitude, altitude, orbital inclination), the target node orbit parameters, and the satellite body attitude data (roll angle, pitch angle, yaw angle) through the constraint and state perception module, and calculate the theoretical pointing vector (azimuth angle , pitch angle ) of the laser terminal pointing to the target node based on the spherical geometry principle, and synchronize it to the parallel calibration scheduling module or the multi-basepoint collaborative scheduling module.

[0041] Regarding the calculation of the actual pointing vector, in the parallel calibration stage, the multi-beam transceiver control module emits multiple detection lasers to the target node. After the optoelectronic detection array of the target node receives them, it records the spot center coordinates ( , ) of each beam, and combines the focal length of the detection array to calculate the actual reception angles (azimuth angle , pitch angle The angle data is then fed back to the transmitting node.

[0042] Regarding the calculation of the actual pointing vector, during the collaborative calibration phase, multiple reference nodes synchronously emit reference lasers to the uncalibrated node. After receiving the lasers, the uncalibrated node measures the actual incident angle of each reference beam using a multi-channel detection array. Combined with the known position information of the reference nodes, it then infers the actual pointing vector of its own laser terminal. , ).

[0043] In some implementations, after receiving the first sub-calibration results corresponding to all satellites, the step of performing calibration processing on all satellites in the inter-satellite laser communication system using a parallel calibration method based on the visible status information of all satellites in the inter-satellite laser communication system to obtain the first final calibration result further includes: verifying the first sub-calibration results corresponding to each satellite in the inter-satellite laser communication system to obtain the first verification result corresponding to each satellite in the inter-satellite laser communication system; if the first verification result is successful, marking the satellite corresponding to the first verification result as a reference node, and storing the node information corresponding to the reference node.

[0044] Furthermore, the step of verifying the first sub-calibration result corresponding to each satellite in the inter-satellite laser communication system is to determine whether the first sub-calibration result corresponding to each satellite meets the first preset threshold. If it meets the threshold, the first verification result is successful; if it does not meet the threshold, the first verification result is unsuccessful.

[0045] The specific value of the first preset threshold can be set by those skilled in the art according to actual needs.

[0046] Furthermore, the step of storing the node information corresponding to the reference node can be to input the node information corresponding to the reference node into the node status library module of the inter-satellite laser communication on-orbit calibration device.

[0047] Furthermore, after storing and processing the node information corresponding to the reference node, the step of performing calibration processing on all satellites in the inter-satellite laser communication system using a parallel calibration method based on the visual status information of all satellites in the inter-satellite laser communication system to obtain the first final calibration result also includes synchronously updating the pointing accuracy and transmit / receive coaxiality parameters of each reference node.

[0048] Furthermore, the transmit-receive coaxiality parameter is obtained by geometrically calculating the angle between the transmit optical axis and the receive optical axis, combining the installation position parameters, focal length, and optical path length of the transmitter and receiver detector arrays. If the transmit-receive coaxiality parameter... If the coaxiality is less than or equal to the fourth preset threshold, it is determined to be qualified, and the node status database is updated synchronously. For example, the fourth preset threshold can be 0.05 mrad.

[0049] It should be understood that after the reference node is established in the parallel calibration phase, or after the uncalibrated node completes its first pointing calibration in the collaborative calibration phase, this application automatically triggers the transmit and receive coaxiality calibration process.

[0050] The coaxiality parameter of the transmitter and receiver can also be measured by a self-collimation measurement method. Specifically, the laser terminal at the transmitting end emits a calibration laser beam through one of the channels of the multi-beam transceiver control module. After being reflected by the built-in semi-transparent mirror, part of the energy of the beam is incident on the small photodetector (used to monitor the emitted optical axis) on the laser terminal, and the center coordinates of the emitted spot are recorded. At the receiving end, the calibration laser beam is simultaneously reflected by the high reflectivity calibration target surface of the target node (parallel calibration stage) or the reference node (cooperative calibration stage) and returns to the receiving channel of the transmitting node along the original path. The detection array at the receiving end records the center coordinates of the reflected spot.

[0051] In some implementations, embodiments of this application can combine real-time inter-satellite visibility constraints to formulate a collaborative calibration strategy and issue scheduling instructions (i.e., issue the second calibration instruction). This step is implemented by the multi-base point collaborative scheduling module.

[0052] The real-time inter-satellite visibility constraint refers to whether, at a given moment, there exists an unobstructed link between two satellites that meets the conditions for laser transmission. Its core meaning is to determine, based on the satellite's real-time orbital position, attitude, and space environment, whether the transmission path of the laser beam from the transmitting node to the receiving node is unobstructed by celestial bodies such as the Earth and Moon, or by obstacles such as other satellites or space debris, and whether the link transmission loss (atmospheric attenuation, free space loss) is within the allowable range of the laser terminal's receiving sensitivity.

[0053] The real-time inter-satellite visibility constraints are determined based on three dimensions: geometric visibility, attitude visibility, and transmission loss constraints. Specifically, the geometric visibility dimension involves calculating the minimum distance between the line connecting the two satellites and the Earth's surface using the orbital parameters (latitude, longitude, and altitude) collected by the constraint and state awareness module. If this minimum distance is greater than the Earth's radius plus a safety margin (e.g., 100 kilometers), geometric visibility is determined. The attitude visibility dimension requires the pointing angle (azimuth and elevation angle) of the transmitting node's laser terminal to be within its mechanical rotation range (e.g., azimuth angle). Pitch angle Within ) and the receiving field of view of the receiving node (e.g. It can cover the pointing direction of the transmitting node. The transmission loss constraint dimension is based on the free space loss calculated based on the inter-satellite distance, combined with the transmission attenuation coefficient of the outer atmosphere (ignoring the influence of the troposphere). If the total free space loss is less than or equal to the maximum allowable loss of the laser terminal (e.g., 200 dB), then the transmission condition is met.

[0054] The real-time inter-satellite visibility constraints are the core basis for the parallel calibration scheduling module to initiate calibration tasks, the multi-base point collaborative scheduling module to divide collaborative groups and select target nodes. The multi-beam scanning acquisition operation will only be triggered when the transmitting node and the target node meet the above visibility conditions, so as to ensure the effectiveness and efficiency of the calibration task.

[0055] The formulation of the collaborative calibration strategy is the core function of the multi-base point collaborative scheduling module, which is completed in 6 steps, as follows: Step 1: The multi-base point collaborative scheduling module retrieves three types of core data (baseline node data, uncalibrated node data, and inter-satellite visibility data) from the node status database and completes preprocessing.

[0056] For the reference node data: extract information such as the ID, real-time orbit parameters, pointing accuracy, transmit / receive coaxiality, number of beams, transmit power, and mechanical rotation range of all calibrated nodes, and filter out the " ≤0.1mrad Valid reference nodes with a velocity ≤0.05mrad and stable state for the past 10s are compiled into a "List of Valid Reference Nodes"; For uncalibrated node data: extract information such as the ID, real-time orbit parameters, uncertain pointing error area (e.g., length × width: 1.5° × 1.5°), historical acquisition failure records, and hardware capabilities (number of beam receiving channels, receiving sensitivity) of all uncalibrated nodes to form the "Uncalibrated Nodes to be Processed List". For inter-satellite visibility data: retrieve the real-time inter-satellite visibility matrix of the entire network (record whether any two nodes meet the "geometric visibility + transmission loss constraint"), and mark the priority (high / medium / low) according to "visibility link stability" (e.g., continuous visibility duration ≥30s).

[0057] Meanwhile, the calibration requirements are clearly defined: ① Prioritize coverage of “large uncertain areas (>1°) and key business nodes (such as constellation backbone nodes)”; ② A single round of collaborative calibration tasks must be completed within ≤10 seconds (to match the relative motion period of the satellites); ③ No more than 2 collaborative groups can participate in a single reference node at the same time (to avoid overloading hardware resources).

[0058] Step 2: Based on the preprocessed data, perform secondary filtering and priority sorting on the "List of Valid Baseline Nodes".

[0059] The selection rules for the secondary screening are as follows: ① It meets the "high priority visual link" (continuous visual duration ≥ 30s) with at least one uncalibrated node; ② There are ≥ 2 remaining beam resources (1 reserved for its own communication and 1 for calibration); ③ The calibration success rate of the last 5 times is ≥ 95% (to ensure reliability). The priority sorting rules (weight percentages) are as follows: ① Pointing precision ( ① The smaller the value, the higher the priority (weight 40%); ② The number of visible links to uncalibrated nodes (the more uncalibrated nodes covered, the higher the priority (weight 30%); ③ Remaining energy consumption (energy consumption ≥ 50% has higher priority (weight 20%); ④ Calibration response latency (≤ 5ms has higher priority (weight 10%)). The output of step 2 is to form a "Priority Baseline Node List" (sorted from highest to lowest score, such as Top 20).

[0060] Step 3: Sort the "List of Unmarked Nodes to be Processed" according to "urgency + marking difficulty" to determine the marking order.

[0061] The output of step 3 is to form the "Calibration Priority Queue for Uncalibrated Nodes".

[0062] Step 4: Based on the above sorting results, the collaborative groups are divided according to the principle of "1-2 uncalibrated nodes and 3-5 reference nodes per collaborative group". The output of Step 4 is to form a "Collaborative Group Configuration Table", which specifies the reference node ID, uncalibrated node ID, visual link priority, and beam allocation plan for each group.

[0063] Step 5: For each collaborative group, configure specific calibration parameters based on the hardware capabilities of the uncalibrated nodes and the characteristics of the uncertain region. The output of Step 5 is a "Calibration Parameter Configuration Table," which is bound to the "Collaborative Group Configuration Table" and serves as the direct basis for command generation.

[0064] Step 6: Pre-validate the established collaborative calibration strategy to ensure its feasibility and set dynamic adjustment thresholds. The final output of Step 6 is the generation of the "Collaborative Calibration Strategy Scheme," which includes collaborative group configuration, calibration parameters, and adjustment rules, serving as the core basis for subsequent instruction generation and execution.

[0065] The strategy formulation process is entirely based on real-time data from the node state database, without relying on any specific algorithm. It is achieved through a closed-loop logic of "data filtering-matching-configuration-verification," which is consistent with the core design of "distributed collaborative architecture + no algorithm dependency" in this application. At the same time, the strategy has dynamic adjustment capabilities and can adapt to complex on-orbit scenarios such as changes in satellite orbit and fluctuations in node state, ensuring the reliability and efficiency of collaborative calibration.

[0066] In some implementations, after receiving the first sub-calibration results for all satellites, a relative position information table corresponding to each first sub-calibration result is generated, and the relative position information table is transmitted to the satellite corresponding to the first sub-calibration result.

[0067] This application embodiment reduces the initial calibration and link establishment time for large-scale constellations from the traditional several days / months to seconds / sub-seconds, improving calibration efficiency by several orders of magnitude and meeting the needs of rapid networking for large-scale constellations.

[0068] The embodiments of this application can be adapted to spaceborne payloads with different beam counts and constellation topologies of different sizes, and have a wide range of application scenarios.

[0069] This application embodiment reduces the impact of single-node calibration errors on the entire network through multi-base point collaborative calibration and iterative updates, thereby improving the overall stability and reliability of large-scale constellation calibration.

[0070] The on-orbit calibration method for inter-satellite laser communication in this application is also applicable to application scenarios where absolute position calibration with ground equipment is possible. Specifically, in some embodiments, the on-orbit calibration method for inter-satellite laser communication further includes: all satellite beams in the inter-satellite laser communication system are pointed in real time to the corresponding ground equipment (i.e., ground station) in the inter-satellite laser communication system; when the target beam appears in the camera window of the target ground equipment, the target ground equipment and the satellite corresponding to the target beam perform calibration processing to obtain a second sub-calibration result (refer to...). Figure 2 The "ground station calibration" step (as described in the text) involves the target ground equipment being any ground device in the inter-satellite laser communication system, and the target beam being any beam from any of the satellites. That is, all calibrated satellites within the ground equipment's line of sight are pointed at the ground equipment in real time. The ground equipment captures any beam with high pointing accuracy from the calibrated satellite and performs calibration. After any satellite completes calibration, the absolute positions of other satellites are updated based on the relative position of that satellite.

[0071] It should be understood that all the second sub-calibration results constitute the third final calibration result, which is used to reflect that all satellites and all ground equipment have been calibrated.

[0072] In applications requiring absolute position calibration with ground equipment, the following steps can be used as a reference (the connectivity between multiple satellites and ground equipment can be found in [reference]). Figure 5 (as shown) L0: Based on ephemeris information, all B, C, and D satellites within the field of view of the ground equipment will be pointed at the ground equipment in real time; L1: Ground equipment stares at the satellite. Satellites B, C, and D are spiral scanned. When any beam of light from satellites B, C, or D appears in the camera window, it is immediately captured and calibration is performed. L2: After any satellite completes calibration, the absolute positions of other satellites are updated using preset relative positions. L0, L1, and L2 represent different times.

[0073] exist Figure 5 In the diagram, the black dots represent the light spots corresponding to the beams emitted by the ground equipment or the satellite. The ground equipment or satellite moves the corresponding black dots into the red squares of the equipment to be calibrated, thus achieving the calibration of the two corresponding devices. Figure 5 The red triangle represents the field of view of the optical transceiver of the satellite or ground equipment, while the cyan triangle represents the laser beam of the satellite or ground equipment.

[0074] It should also be understood that the application scenario of this application embodiment can also be a low-Earth orbit constellation containing 1,000 satellites, each satellite carrying a 4-channel laser payload, supporting simultaneous transmission and reception of multiple beams, with the satellites in the constellation (i.e. all satellites) moving at high relative speeds, and the inter-satellite visibility changing dynamically with orbital position, requiring the initial calibration and link establishment to be completed quickly after entering orbit.

[0075] In some implementations, the calibration task in this application requires the following conditions to be met: a) The local state conditions of a single node and the global state conditions of the entire network. The local state conditions of a single node include: a) All hardware parameters of the local laser payload, such as the number of beams, mechanical rotation range, and transmit power / receive sensitivity, have been successfully read, and there are no missing or invalid parameters (e.g., the number of beams ≠ 0, and the rotation range is within a preset range); b) The local constraint parameters match the hardware capabilities of the satellite platform (e.g., the beam transmit power does not exceed the payload's rated value); c) The satellite attitude error is less than or equal to a fifth preset threshold (e.g., the satellite attitude error is less than or equal to 0.5 mrad), and the satellite attitude does not experience attitude instability or severe jitter (to avoid significant optical axis shift during calibration); d) The uncertain area induced by the payload pointing error is less than or equal to the laser terminal's scanning coverage area (e.g., the diameter of the uncertain area is less than or equal to 2°, and the scanning range is greater than or equal to 2°), ensuring that multiple beams can cover the target area; e) The beam acquisition status is normal (i.e., the detector array is fault-free, and the receiving channel is unobstructed), and the acquisition time statistics are within a reasonable range (e.g., the historical average acquisition time is less than or equal to 100 ms).

[0076] The global state conditions for the entire network include: a) The constellation topology has been completely assembled (the current node has obtained the real-time orbit parameters of all nodes in the network, and no node orbit data is missing); b) The inter-satellite relative visibility state has been calculated (the current node and at least one target node meet the geometric visibility + transmission loss constraints, and there is no obstruction); c) The distribution data of calibrated nodes has been synchronized (there is no mandatory requirement in the parallel calibration stage, but at least two calibrated reference nodes are required in the collaborative calibration stage); d) The uncertain region data of uncalibrated nodes has been synchronized to the node state database, and there is no data conflict (if the uncertain region data of the same node deviates from the state database of different nodes by less than or equal to 0.1°); e) The pointing accuracy and transmit / receive coaxiality parameters of the reference nodes have met the standards (required in the collaborative calibration stage). Less than or equal to 0.1 mrad The value is less than or equal to 0.05 mrad and the state is stable (no parameter abrupt change in the last 10 seconds).

[0077] A second aspect of this application provides an on-orbit calibration device for inter-satellite laser communication, comprising: The variable sensing module is used to acquire the visual status information of each satellite in the inter-satellite laser communication system. The visual status information of each satellite is all the observed satellites within the visual window of each satellite. The parallel calibration planning module is used to perform calibration processing on all satellites in the inter-satellite laser communication system based on the visible status information of all satellites in the inter-satellite laser communication system, and obtain the first final calibration result. The collaborative calibration planning module is used to determine whether all satellites have completed calibration based on the first final calibration result, and obtain a first judgment result; if the first judgment result is that not all satellites have completed calibration, the collaborative calibration method is used to perform calibration processing on all uncalibrated satellites in the inter-satellite laser communication system to obtain a second final calibration result, which reflects that all satellites have completed calibration.

[0078] The variable sensing module is also used to acquire information such as distribution location, number of optical transceivers / beams, and attitude error.

[0079] In some implementations, the parallel calibration planning module is further configured to calculate the satellite distribution probability density in the four quadrants surrounding each satellite based on the visible state information of each satellite in the inter-satellite laser communication system; send a first calibration instruction to each satellite so that each satellite performs random spiral scanning, acquisition and calibration processing according to the corresponding satellite distribution probability density, obtain and feed back the first sub-calibration result corresponding to each satellite; and after receiving the first sub-calibration results corresponding to all satellites, construct the first final calibration result from all the first sub-calibration results.

[0080] In some implementations, the parallel calibration planning module is further used to verify the first sub-calibration result corresponding to each satellite in the inter-satellite laser communication system to obtain the first verification result corresponding to each satellite in the inter-satellite laser communication system; if the first verification result is successful, the satellite corresponding to the first verification result is marked as a reference node, and the node information corresponding to the reference node is stored.

[0081] If the first verification result is successful, the step of marking the satellite corresponding to the first verification result as a reference node is completed by the parallel calibration scheduling module of the parallel calibration planning module.

[0082] The step of storing the node information corresponding to the reference nodes is completed by the node status library module of the parallel calibration planning module. The stored information is not limited to the calibration status (calibrated / uncalibrated) of each reference node, the reference identity of each reference node, the calibration accuracy parameters, and the constellation topology dynamic update data.

[0083] The parallel calibration scheduling module is also used to initiate multi-node parallel calibration tasks based on the collected constraint parameters and variable data.

[0084] In practical applications, the parallel calibration and scheduling module can send parallel scanning and acquisition commands to all satellites in the constellation after startup. Each satellite performs synchronous calibration on adjacent visible satellites through a 4-channel laser payload. After one round of scanning and acquisition is completed, the parallel calibration and scheduling module verifies the accuracy of the calibration results of all nodes, selects 200 satellites with qualified calibration accuracy as reference nodes, enters them into the node status library module, and synchronizes them to all network nodes.

[0085] In some implementations, the node state library module is further configured to generate a relative position information table corresponding to each first sub-calibration result after receiving the first sub-calibration results for all satellites, and transmit the relative position information table to the satellite corresponding to the first sub-calibration result.

[0086] In some implementations, the node state library module can also be used to determine whether all nodes have completed calibration. If not, it can iterate multiple times until all calibrations are completed.

[0087] In some implementations, when the node status library module detects that all nodes in the constellation have completed calibration and achieved full connectivity, it outputs a network-wide calibration completion signal, and all modules terminate their work, thus ending the calibration process.

[0088] In some embodiments, the on-orbit calibration device for inter-satellite laser communication further includes a multi-base point collaborative scheduling module, which is used to retrieve the calibrated reference node information from the node status database module, generate multi-base point collaborative calibration scheduling instructions in combination with inter-satellite visibility constraints, schedule multiple reference nodes to initiate collaborative calibration tasks for uncalibrated nodes in the visible area through multiple beams, receive collaborative calibration results and complete accuracy verification, include qualified nodes into the reference node cluster, and synchronously update the node information and calibration progress in the node status database module.

[0089] In practical applications, the multi-base point collaborative scheduling module can retrieve information from 200 reference nodes, divide them into collaborative groups according to the inter-satellite visibility range (each group consists of 3-5 reference nodes), and issue collaborative calibration instructions to each collaborative group. Each collaborative group uses a 4-channel beam to synchronously perform scanning, acquisition, and calibration operations on the uncalibrated satellites within the visibility range. After the first round of collaborative calibration is completed, 400 uncalibrated satellites pass accuracy verification and are incorporated into the reference node cluster (stored in the node status database module). The node status database module updates the calibration progress (600 nodes have been calibrated).

[0090] In some embodiments, the on-orbit calibration device for inter-satellite laser communication further includes a constraint and state awareness module for real-time acquisition and output of system constraint parameters and state variables. The constraint parameters include, but are not limited to, constellation topology, number of beams from the onboard laser payload, and inter-satellite relative visibility status; the state variables include, but are not limited to, satellite attitude error, characteristics of uncertain regions induced by payload pointing error, beam acquisition status, and time-related data.

[0091] In some embodiments, the on-orbit calibration device for inter-satellite laser communication further includes a multi-beam transceiver control module, which carries the satellite's multi-channel laser emitting unit and the satellite's photoelectric detection unit, responds to the instructions of the parallel calibration scheduling module or the multi-base point collaborative scheduling module, and performs multi-beam synchronous scanning, target acquisition and pointing accuracy adjustment operations; and collects and feeds back calibration process status data and final calibration results in real time.

[0092] In practical applications, after all satellite nodes in the constellation are in orbit, the on-orbit calibration of the inter-satellite laser communication is started synchronously to complete the device initialization; the constraint and state perception module starts working, collecting constraint parameters such as constellation topology, number of satellite laser payload beams, and inter-satellite relative visibility, as well as variable data such as satellite attitude error, pointing error uncertainty area, and beam acquisition status, and synchronizing the collected data to the parallel calibration scheduling module and the node state database module.

[0093] In practical applications, a new round of collaborative calibration tasks can be triggered when a new benchmark node is added during the parallel calibration phase and the node state database is updated.

[0094] In some implementations, the constraint parameters include two types: "single-node local constraint parameters" and "network-wide global constraint parameters," which work together to support the "parallel calibration + collaborative calibration" process.

[0095] Furthermore, the single-node local constraint parameters are directly collected by the "constraint and state awareness module" of the current satellite node without relying on inter-satellite data interaction. This module reads inherent parameters such as the number of beams, mechanical rotation range, and transmission power through the hardware interface with the laser payload and satellite platform of this node, and uses them as the basic boundary conditions for performing local calibration tasks (e.g., determining the number of parallel scanning channels based on the number of beams).

[0096] Furthermore, the global constraint parameters for the entire network can include the constellation topology, inter-satellite relative visibility status, and the distribution range of calibrated nodes. The constellation topology is determined by the "constraint and state awareness module" of each node (i.e., satellite), which collects its own orbital parameters and uploads them in real-time to the network-wide node state database through the bidirectional data synchronization interface of the "node state database module." Each node can retrieve the orbital data of all other nodes from the database and assemble them to form a complete constellation topology. The inter-satellite relative visibility status is calculated locally by each node based on its own orbital parameters and the retrieved orbital parameters of other nodes, using a geometric visibility + transmission loss constraint formula (as described above for judging real-time inter-satellite visibility constraints). The calculation results are synchronized to the node state database to ensure consistency of network-wide visibility data. The distribution range of calibrated nodes is determined by the parallel calibration scheduling module and the multi-basepoint collaborative scheduling module, which write the information of calibrated nodes into the node state database to ensure real-time synchronization and updates across the entire network.

[0097] It should be understood that during the parallel calibration phase, the parallel calibration scheduling module of the current node combines the local constraint parameters of a single node (such as the number of beams) and the global constraint parameters of the entire network (such as the visibility of surrounding nodes and constellation topology) to determine the scanning range and target nodes of the local multi-beam, so as to avoid exceeding the hardware capabilities or selecting unseen nodes.

[0098] During the collaborative calibration phase, the multi-base point collaborative scheduling module divides the collaborative calibration groups based on the global constraint parameters of the entire network (such as the distribution of calibrated nodes and the list of visible reference nodes for uncalibrated nodes) and the local constraint parameters of each reference node (such as beam emission power) to ensure that the scheduled reference nodes can both cover uncalibrated nodes and meet the transmission loss requirements.

[0099] This application embodiment achieves parallel initiation and collaborative execution of multi-node calibration tasks through module collaboration of constraint perception, dual scheduling (parallel and collaborative), multi-beam transceiver, and node status management, and can complete the process loop without relying on specific telemetry and control commands.

[0100] The on-orbit calibration device for inter-satellite laser communication can be deployed in each satellite. The node status library module of the on-orbit calibration device for inter-satellite laser communication achieves data sharing through the inter-satellite laser link. The constraint and status perception module of the on-orbit calibration device for inter-satellite laser communication collects the attitude error of the satellite, the visibility status with surrounding satellites, and the acquisition status data of the 4-channel beam in real time.

[0101] A third aspect of this application provides a satellite, including a processor and a memory, the memory for storing a computer program, and the processor for calling and running the computer program stored in the memory to perform the steps of the on-orbit calibration method for inter-satellite laser communication provided in the first aspect of this application.

[0102] A fourth aspect of this application provides an inter-satellite laser communication system, including multiple satellites provided in the third aspect of this application and multiple ground devices, all of which are communicatively connected, and each ground device is communicatively connected to multiple satellites.

[0103] The technical features of the above embodiments can be combined without changing the basic principles of this application. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0104] The above embodiments merely illustrate several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the patent protection scope of this application should be determined by the appended claims.

Claims

1. An on-orbit calibration method for inter-satellite laser communication, characterized in that, include: The visual status information of each satellite in the inter-satellite laser communication system is obtained. The visual status information of each satellite is all the observed satellites within the visual window of each satellite. Based on the visible status information of all satellites in the inter-satellite laser communication system, a parallel calibration method is used to perform calibration processing on all satellites in the inter-satellite laser communication system to obtain the first final calibration result; Based on the first final calibration result, determine whether all satellites have completed calibration, and obtain the first judgment result; If the first judgment result indicates that not all calibrations have been completed, a collaborative calibration method is used to perform calibration processing on all uncalibrated satellites in the inter-satellite laser communication system to obtain a second final calibration result. The second final calibration result is used to reflect that all satellites have been calibrated.

2. The on-orbit calibration method for inter-satellite laser communication according to claim 1, characterized in that, Based on the visible status information of all satellites in the inter-satellite laser communication system, the steps of performing calibration processing on all satellites in the inter-satellite laser communication system using a parallel calibration method to obtain the first final calibration result include: Based on the visible state information of each satellite in the inter-satellite laser communication system, the satellite distribution probability density in the four quadrants surrounding each satellite is calculated; a first calibration command is sent to each satellite so that each satellite performs random spiral scanning, acquisition and calibration processing according to the corresponding satellite distribution probability density, and obtains and feeds back the first sub-calibration result corresponding to each satellite; After receiving the first sub-calibration results for all satellites, the first sub-calibration results are combined to form the first final calibration result.

3. The on-orbit calibration method for inter-satellite laser communication according to claim 2, characterized in that, After receiving the first sub-calibration results for all satellites, the step of performing calibration processing on all satellites in the inter-satellite laser communication system using a parallel calibration method based on the visual status information of all satellites in the inter-satellite laser communication system to obtain the first final calibration result further includes: The first sub-calibration result corresponding to each satellite in the inter-satellite laser communication system is verified to obtain the first verification result corresponding to each satellite in the inter-satellite laser communication system. If the first verification result is successful, the satellite corresponding to the first verification result is marked as a reference node, and the node information corresponding to the reference node is stored and processed.

4. The on-orbit calibration method for inter-satellite laser communication according to claim 3, characterized in that, If the first judgment result is that not all calibrations have been completed, the step of using a collaborative calibration method to calibrate all uncalibrated satellites in the inter-satellite laser communication system to obtain the second final calibration result includes: pointing the beams of the reference nodes in the visual window of the target uncalibrated satellite to the target uncalibrated satellite, wherein the target uncalibrated satellite is one of the uncalibrated satellites in the inter-satellite laser communication system; Send a second calibration command to the target uncalibrated satellite to cause the target uncalibrated satellite to perform random spiral scanning, acquisition and calibration processing, and obtain and feed back the second sub-calibration result corresponding to the target uncalibrated satellite; After all uncalibrated satellites in the inter-satellite laser communication system have completed calibration processing and the second sub-calibration results corresponding to all uncalibrated satellites have been received, all the second sub-calibration results are used to form the second final calibration result.

5. The on-orbit calibration method for inter-satellite laser communication according to claim 4, characterized in that, The steps for selecting the target uncalibrated satellites include: Obtain the acquisition probability of all satellites in the inter-satellite laser communication system; According to the first preset rule, a target probability is selected from all acquisition probabilities, and the uncalibrated satellite corresponding to the target probability is taken as the target uncalibrated satellite, wherein the target probability is the acquisition probability of one of the uncalibrated satellites in the inter-satellite laser communication system.

6. The on-orbit calibration method for inter-satellite laser communication according to claim 5, characterized in that, The first preset rule is to select the highest probability value among all capture probabilities as the target probability.

7. The on-orbit calibration method for inter-satellite laser communication according to claim 1, characterized in that, The on-orbit calibration method for inter-satellite laser communication also includes: In the inter-satellite laser communication system, the beams of all satellites are pointed in real time to the corresponding ground equipment in the inter-satellite laser communication system. When a target beam appears in the camera view of the target ground device, the target ground device and the satellite corresponding to the target beam perform calibration processing to obtain a second sub-calibration result. Here, the target ground device is any ground device in the inter-satellite laser communication system, and the target beam is any beam from any of the satellites.

8. An on-orbit calibration device for inter-satellite laser communication, characterized in that, include: The variable sensing module is used to acquire the visual status information of each satellite in the inter-satellite laser communication system. The visual status information of each satellite is all the observed satellites within the visual window of each satellite. The parallel calibration planning module is used to perform calibration processing on all satellites in the inter-satellite laser communication system based on the visible status information of all satellites in the inter-satellite laser communication system, and obtain the first final calibration result. The collaborative calibration planning module is used to determine whether all satellites have completed calibration based on the first final calibration result, and obtain a first judgment result; if the first judgment result is that not all satellites have completed calibration, the collaborative calibration method is used to perform calibration processing on all uncalibrated satellites in the inter-satellite laser communication system to obtain a second final calibration result, which reflects that all satellites have completed calibration.

9. A satellite, characterized in that, include: A processor and a memory, the memory being used to store a computer program, the processor being used to call and run the computer program stored in the memory to perform the steps of the on-orbit calibration method for inter-satellite laser communication as described in any one of claims 1 to 7.

10. An inter-satellite laser communication system, characterized in that, It includes multiple satellites as described in claim 9 and multiple ground devices, all of which are communicatively connected, and each ground device is communicatively connected to multiple of the satellites.

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