A method, device and system for autonomous orbit control in a large-scale constellation

Abstract

The present disclosure relates to an autonomous orbit control method, device and system in a large-scale constellation. The method includes: obtaining a deviation range, a preset orbit parameter, an adjustment amount and an adjustment amount threshold, wherein the deviation range is used to indicate the allowable deviation between the orbit parameter of the spacecraft and the preset orbit parameter, and the adjustment amount includes at least one of the adjustment data, adjustment time and number of adjustments of the orbit parameter; determining the deviation value between the current orbit parameter and the preset orbit parameter, and the accumulated adjustment amount within the period; if the deviation value is not within the deviation range, adjusting the orbit operation; if the accumulated adjustment amount is greater than or equal to the adjustment amount threshold, operating in the current orbit. This technical solution can perform orbit control from the perspective of a large-scale constellation and reduce the risk of satellite falling.

Description

Technical Field

[0001] The present disclosure relates to the field of communication technology, and in particular to an autonomous orbit control method, device and system in a large-scale constellation. Background Art

[0002] The Low Earth Orbit satellite (LEO) system refers to a large satellite system consisting of multiple satellites that can perform real-time information processing. The distribution of satellites is called a satellite constellation. Since low-orbit satellites are not synchronized with the earth, the constellation is constantly changing, and the relative positions of each satellite are also constantly changing. In order to facilitate management and realize real-time communication of multi-satellite systems, satellites need to be connected to ground signal gateways.

[0003] Since there is discontinuous communication between the gateway and the low-orbit satellite, the satellite needs to perform autonomous orbit control. The current autonomous orbit control technology is only for the behavior of a single satellite, and cannot be implemented from the perspective of the low-orbit satellite system, which can easily cause the satellite to fall. Therefore, there is an urgent need for an autonomous orbit control method that can be considered from the perspective of the low-orbit satellite network. Summary of the invention

[0004] In view of the problem that the autonomous orbit control technology in the prior art is only aimed at the behavior of a single satellite and cannot be realized from the perspective of a low-orbit satellite system, which easily causes the satellite to fall, the present disclosure proposes an autonomous orbit control method and device in a large-scale constellation.

[0005] In a first aspect, an embodiment of the present disclosure provides an autonomous orbit control method in a large-scale constellation, including:

[0006] Acquiring a deviation range, a preset orbital parameter, an adjustment amount, and an adjustment amount threshold, wherein the deviation range is used to indicate an allowable deviation between the orbital parameter of the aircraft and the preset orbital parameter, and the adjustment amount includes at least one of adjustment data, adjustment time, and adjustment number of the orbital parameter;

[0007] Determine the deviation between the current orbital parameters and the preset orbital parameters, and the accumulated adjustment amount within the period;

[0008] If the deviation value is not within the deviation range, adjusting the running track;

[0009] If the accumulated adjustment amount is greater than or equal to the adjustment amount threshold, the system runs on the current track.

[0010] Further, the determining of the deviation value between the current orbit parameter and the preset orbit parameter includes:

[0011] If the orbit parameter is a parameter, calculating a deviation value between the current orbit parameter and the preset orbit parameter;

[0012] If the orbital parameter is at least two parameters, the deviation value between the current orbital parameter corresponding to each orbital parameter and the preset orbital parameter corresponding to each orbital parameter is calculated respectively.

[0013] Further, if the deviation value is not within the deviation range, adjusting the running track includes:

[0014] When the orbital parameters are at least two parameters and at least one of the following conditions is satisfied, the running orbit is adjusted:

[0015] If each of the orbital parameters has a corresponding deviation range, and the deviation value corresponding to at least one of the orbital parameters is not within the deviation range corresponding to the orbital parameter,

[0016] If each of the orbital parameters has a corresponding deviation range, and the deviation values ​​corresponding to the plurality of orbital parameters are not within the deviation range corresponding to the orbital parameters,

[0017] If a plurality of the orbital parameters share a common deviation range, a weighted sum of the deviation values ​​corresponding to the plurality of the orbital parameters is not within the deviation range.

[0018] Furthermore, the adjustment amount includes:

[0019] The accumulated time corresponding to the pulse width signal, wherein the pulse width signal is used to control the working time of the thruster.

[0020] Furthermore, the method further comprises:

[0021] The accumulated time of the pulse width signal satisfies: or ,

[0022] Wherein, T1...Tn respectively indicate the opening time of each pulse width signal, … Indicates the angle between the thruster pointing and the orbit tangent direction at T1...Tn respectively.

[0023] Furthermore, the deviation value includes:

[0024] The variance of the difference between the current orbit parameter and the preset orbit parameter, or the absolute value of the difference between the current orbit parameter and the preset orbit parameter.

[0025] Furthermore, the cycle includes:

[0026] A preset time period or a time period generated by a judgment condition.

[0027] Further, the preset time period includes: a fraction or an integer multiple of the orbital period or a preset fixed value;

[0028] The time period generated by the determination condition includes: a time period starting from the time point of the last communication with the gateway and ending at the time point of the next communication with the gateway.

[0029] Furthermore, the method further comprises:

[0030] After the period ends, a feedback signaling is sent to the gateway.

[0031] Further, the feedback signaling includes one or more of the following information:

[0032] Information on whether the adjustment amount threshold is reached, the actual adjustment amount, the thruster operation record and the accumulated time of the pulse width signal.

[0033] Furthermore, the method further comprises:

[0034] In one of the cycles, when the following conditions are met, a request signaling for orbit adjustment is sent to the gateway via the communication link with the gateway.

[0035] The orbit adjustment is triggered by orbit parameters X1...Xm, and after the cumulative adjustment amount of the orbit adjustment reaches the adjustment amount threshold,

[0036] The deviation between the orbital parameters Y1...Yn and the corresponding preset orbital parameters exceeds the corresponding deviation range.

[0037] Wherein, m and n are both integers greater than or equal to 1, and the orbital parameters X1...Xm are different from the orbital parameters Y1...Yn.

[0038] In a second aspect, an embodiment of the present disclosure provides an autonomous orbit control method in a large-scale constellation, including:

[0039] Sending a deviation range, a preset orbital parameter, an adjustment amount, and an adjustment amount threshold, wherein the deviation range is used to indicate an allowable deviation between the orbital parameter of the spacecraft and the preset orbital parameter, and the adjustment amount includes at least one of the adjustment data, adjustment time, and adjustment number of the orbital parameter;

[0040] The aircraft is used to determine the deviation between the current orbital parameters and the preset orbital parameters, and the accumulated adjustment amount within the period;

[0041] If the deviation value is not within the deviation range, adjusting the running track;

[0042] If the accumulated adjustment amount is greater than or equal to the adjustment amount threshold, the system runs on the current track.

[0043] Furthermore, the preset orbital parameters include one or more; and the number of the deviation ranges is less than or equal to the number of the preset orbital parameters.

[0044] Furthermore, the adjustment amount includes:

[0045] The accumulated time of the pulse width signal, wherein the pulse width signal is used to control the working time of the thruster.

[0046] Furthermore, the cycle includes:

[0047] A preset time period or a time period generated by a judgment condition.

[0048] Furthermore, the preset time period, or the non-preset time period generated by the determination condition, includes:

[0049] The preset time period includes a fraction or an integer multiple of the orbital period;

[0050] The non-preset time period includes a time period starting from the time point of the last communication with the gateway and ending at the time point of the next communication with the gateway.

[0051] Furthermore, the method further comprises:

[0052] After the period ends, feedback signaling is received.

[0053] Further, the feedback signaling includes one or more of the following information:

[0054] Information on whether the adjustment amount threshold is reached, the actual adjustment amount, the thruster operation record and the accumulated time of the pulse width signal.

[0055] Furthermore, the method further comprises:

[0056] Based on the feedback signaling, one or more of a deviation range, a preset orbit parameter, and an adjustment amount threshold are generated.

[0057] Furthermore, the method further comprises:

[0058] Within the period, a request signal for continuing orbit adjustment is received from the spacecraft.

[0059] In a third aspect, an autonomous orbit control vehicle in a large-scale constellation is provided in an embodiment of the present disclosure, comprising: a transceiver module, an onboard computer, and a thruster;

[0060] The transceiver module is used to obtain one or more of a deviation range, a preset orbital parameter, an adjustment amount, and an adjustment amount threshold, wherein the deviation range is used to indicate an allowable deviation between the orbital parameter of the aircraft and the preset orbital parameter, and the adjustment amount includes at least one of adjustment data, adjustment time, and adjustment number of orbital parameters;

[0061] The onboard computer is used to calculate one or more of the deviation value between the current orbital parameter and the preset orbital parameter and the accumulated adjustment value within a period,

[0062] If the deviation value is not within the deviation range, the onboard computer outputs an execution command to the thruster.

[0063] Furthermore, the method further comprises an accumulation controller,

[0064] The cumulative controller is used to read and store the working time of the propeller;

[0065] The cumulative controller is also used to output a prohibition signal to the thruster.

[0066] In a fourth aspect, this embodiment discloses an autonomous orbit control gateway in a large-scale constellation, including:

[0067] a sending module, configured to send one or more of a deviation range, a preset orbital parameter, an adjustment amount, an adjustment amount threshold, and a signaling allowing adjustment, wherein the deviation range is used to indicate an allowable deviation between the orbital parameter of the aircraft and the preset orbital parameter, and the adjustment amount includes at least one of adjustment data, adjustment time, and adjustment number of the orbital parameter;

[0068] The aircraft is used to determine the deviation between the current orbital parameters and the preset orbital parameters, and the accumulated adjustment amount within the period;

[0069] If the deviation value is not within the deviation range, adjusting the running track;

[0070] If the accumulated adjustment amount is greater than or equal to the adjustment amount threshold, the system runs on the current track.

[0071] Furthermore, the method further comprises:

[0072] A receiving module and a computing module;

[0073] Wherein, the receiving module is used to receive a signal from the aircraft;

[0074] The calculation module is used to calculate one or more of a deviation range, a preset orbit parameter and an adjustment amount threshold.

[0075] In a fifth aspect, an autonomous orbit control system in a large-scale constellation is disclosed in an embodiment of the present disclosure, including:

[0076] Gateways and aircraft;

[0077] The aircraft is used to obtain a deviation range, a preset orbital parameter, an adjustment amount, and an adjustment amount threshold, wherein the deviation range is used to indicate an allowable deviation between the orbital parameter of the aircraft and the preset orbital parameter, and the adjustment amount includes at least one of adjustment data, adjustment time, and adjustment number of orbital parameters;

[0078] The aircraft is also used to determine the deviation between the current orbital parameters and the preset orbital parameters, and the accumulated adjustment amount within the period;

[0079] The aircraft is further configured to adjust orbital operation if the deviation value is not within the deviation range;

[0080] The aircraft is further configured to operate in a current orbit if the accumulated adjustment amount is greater than or equal to the adjustment amount threshold;

[0081] The gateway is used to send one or more of the deviation range, the preset orbit parameter and the adjustment value threshold.

[0082] Through the method of the present invention, the gateway only needs to calculate the configuration parameters for one aircraft and send them to the aircraft in one communication. On the one hand, the aircraft can complete the orbit adjustment without the coverage of the gateway, and on the other hand, the orbit adjustment can be controlled within a limited range to avoid the aircraft falling due to large position changes caused by orbit adjustment. In this way, one gateway can efficiently manage a large number of aircraft.

[0083] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0084] Other features, objectives and advantages of the present disclosure will become more apparent through the following detailed description of non-limiting embodiments in conjunction with the accompanying drawings. In the accompanying drawings:

[0085] Figure 1 A schematic diagram showing a low-orbit satellite constellation according to an embodiment of the present disclosure;

[0086] Figure 2 A schematic diagram of a satellite system architecture according to an embodiment of the present disclosure is shown;

[0087] Figure 3 A structural block diagram of a track control device according to an embodiment of the present disclosure is shown;

[0088] Figure 4 A schematic diagram showing a pulse width signal according to an embodiment of the present disclosure;

[0089] Figure 5 A structural block diagram of a track control device according to an embodiment of the present disclosure is shown;

[0090] Figure 6 A schematic diagram of a track control system according to an embodiment of the present disclosure is shown;

[0091] Fig. 7A A schematic diagram showing a timeline of track control according to an embodiment of the present disclosure;

[0092] Figure 7B A timeline diagram showing thruster output according to an embodiment of the present disclosure;

[0093] Figure 7C A timeline diagram showing adjustment amount monitoring according to an embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0094] Hereinafter, exemplary embodiments of the present disclosure will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily implement them. In addition, for the sake of clarity, parts not related to the description of the exemplary embodiments are omitted in the accompanying drawings.

[0095] In the present disclosure, it should be understood that terms such as "include" or "have" are intended to indicate the presence of features, numbers, steps, behaviors, components, parts, or a combination thereof disclosed in the specification, and do not exclude the possibility that one or more other features, numbers, steps, behaviors, components, parts, or a combination thereof exist or are added.

[0096] It should also be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present disclosure may be combined with each other. The present disclosure will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0097] Figure 1 FIG. 1 is a schematic diagram showing a low-orbit satellite constellation according to an embodiment of the present disclosure. Figure 1 As shown, the low-orbit satellite constellation takes the Walker Polar constellation as an example. The constellation consists of multiple orbits 101-A, each orbit has multiple low-orbit satellites 101 running, and the orbits intersect near the North Pole and the South Pole. The low-orbit satellite provides wireless access services to an area on the ground through a communication link. A single satellite keeps moving relative to the ground, so the area covered by its communication link changes over time.

[0098] One of the characteristics of low-orbit satellite systems is that a large number of satellites are required to form a satellite network covering the entire world. The increase in the number of satellites brings higher orbit control pressure, and because there is discontinuous communication between satellites and ground gateways, when satellites cannot communicate with gateways, the autonomous orbit control behavior of satellites can easily cause excessive orbit adjustment, causing the orbits of multiple satellites to interfere with each other, leading to satellite crashes.

[0099] The present disclosure is made to at least partially solve the problems in the prior art discovered by the inventors.

[0100] Figure 2 FIG. 1 is a schematic diagram of a satellite system architecture according to an embodiment of the present disclosure. Figure 2 As shown, the satellite system mainly includes: low-orbit satellites 101, 102, ground terminal 103 and ground gateway 104. The low-orbit satellite 101 can communicate with the ground terminal 103 through a service link. The low-orbit satellites 101 and 102 communicate with each other through inter-satellite links, in which a single low-orbit satellite keeps moving relative to the ground, and the area covered by its communication link changes with time. Therefore, at some times, the low-orbit satellite 101 can provide wireless access services for the ground terminal 103, and at other times, the low-orbit satellite 102 can provide it. The ground gateway 104 can communicate with the low-orbit satellite 101 through a feeder link. The ground gateway 104 provides telemetry and control services for the low-orbit satellites 101 and 102, communicates and controls the onboard computers of the low-orbit satellites, and realizes services required for the operation of the low-orbit satellites, such as temperature management, attitude adjustment, and positioning. The ground gateway 104 is also connected to the ground network and can communicate with networks such as the Internet and PSTN. Among them, the communication link carrier frequency between the low-orbit satellite 101 and the ground terminal 103 and the ground gateway station 104 can be a wireless signal in the KA, KU, and V bands. The low-orbit satellite 101 sends and receives wireless signals to the ground through beamforming achieved by a phased array antenna array.

[0101] It should be understood that Figure 2 The number of low-orbit satellites, ground terminals, and ground gateways in the figure is only for illustration. Any number of low-orbit satellites, ground terminals, and ground gateways may be provided as required.

[0102] Figure 3 A structural block diagram of a track control device according to an embodiment of the present disclosure is shown.

[0103] like Figure 3As shown, the low-orbit satellite 101 includes an onboard computer 1011, a thruster 1012, a target orbit memory 1013, an inter-satellite communication interface 1014, a gateway communication interface 1015, and a positioning module 1016. The inter-satellite communication interface 1014 and the gateway communication interface 1015 can be independent transceiver interfaces or the same set of transceiver interfaces; the target orbit memory 1013 can be configured in the onboard computer 1011 or can be a separate device.

[0104] During the operation of the satellite, when it runs into the communication range of the ground gateway station 104, the gateway station communication interface 1015 receives information from the gateway station 104, which may be a TT&C data packet, where TT&C stands for telemetry, tracking and command. The gateway station communication interface 1015 sends the TT&C data packet to the target orbit memory 1013, and the target orbit memory 1013 sends the preset orbit parameters to the onboard computer 1011, where the orbit parameters may also be referred to as orbital elements, and may be one or more of the conventional six parameters (orbital inclination, ascending node ecliptic longitude, eccentricity, perihelion argument, semi-major axis, and mean anomaly at a specified epoch). The onboard computer 1011 also receives real-time coordinates from the positioning module 1016, which may be a GNSS positioning module or a Beidou navigation positioning module.

[0105] The onboard computer 1011 calculates the pulse width signal of the thruster 1012, and finally sends the pulse width signal to the thruster 1012, controlling the thruster 1012 to apply a thrust to the center of mass of the satellite 101, thereby completing the entire orbit adjustment process. If the satellite needs attitude control, it needs to apply a thrust to the non-center of mass, thereby completing the attitude adjustment process.

[0106] In this embodiment, the satellite 101 completes the reception of the TT&C data packet in the area covered by the ground gateway 104. The TT&C data packet is a set of control parameters, not a direct instruction executed by the satellite 101. After that, the orbit adjustment decision is controlled in real time by the onboard computer 1011. Therefore, when the satellite 101 needs to start the orbit adjustment operation is random, and the orbit adjustment of the satellite 101 may be completed without the knowledge of the ground gateway 104. In this case, on the one hand, the decision of the onboard computer 1011 may have errors due to a fault, and on the other hand, the satellite 101 cannot report the record of autonomous orbit control before the next access to the ground gateway 104, which is easy to threaten the orbit safety of the low-orbit satellite system.

[0107] One embodiment of the present disclosure is: satellite 101 obtains a deviation range and preset orbital parameters, wherein the deviation range is used to indicate the allowable deviation between the satellite's orbital parameters and the preset orbital parameters. The deviation range and preset orbital parameters obtained by satellite 101 may come from the ground gateway 104, from other satellites such as 102, or from system presets; wherein the system preset means that various data have been predetermined for the satellite before it is sent. When the deviation value between the current orbital parameters of satellite 101 and the preset orbital parameters exceeds the deviation range, satellite 101 may perform orbit adjustment according to the orbit adjustment algorithm in the onboard computer. When the deviation value between the current orbital parameters of satellite 101 and the preset orbital parameters is less than the deviation range, satellite 101 may independently decide whether to perform orbit adjustment.

[0108] Furthermore, satellite 101 also obtains an adjustment threshold, which describes the adjustment allowed for the satellite within an orbital control cycle. The adjustment threshold obtained by satellite 101 may come from the ground gateway 104, from other satellites such as 102, or from a system preset; wherein, the system preset means that the satellite has been predetermined with various data before sending. Within an orbital control cycle, when the cumulative adjustment executed by satellite 101 is less than or equal to the adjustment threshold, satellite 101 may perform orbital adjustments according to the orbital control algorithm in the onboard computer 1011. When the cumulative adjustment executed by satellite 101 is greater than the adjustment threshold, satellite 101 is prohibited from performing orbital adjustments. Through the above-mentioned method disclosed in the present invention, when performing orbital adjustments, low-orbit satellites will be limited by the deviation range and the adjustment threshold, so that within the time range of not communicating with the ground gateway, the orbital adjustments performed by the satellite are limited, reducing the probability of threatening orbital safety.

[0109] In one embodiment, the deviation range may be configured for only one orbital parameter. Table 1 is an example:

[0110] Table 1

[0111]

[0112] At this time, satellite 101 obtains the actual semi-major axis of the current orbit through positioning module 1016 , and the actual semi-major axis is obtained and preset semi-major axis The variance between:

[0113]

[0114] The onboard computer 1011 can determine whether to perform orbit adjustment according to the following formula:

[0115]

[0116] In one embodiment, the deviation range can be configured for multiple orbital parameters. Table 2 is an example:

[0117] Table 2

[0118]

[0119] At this time, satellite 101 obtains the actual semi-major axis of the current orbit through positioning module 1016 and the actual orbital inclination , and the actual semi-major axis is obtained and the predetermined semi-major axis The variance between the actual orbital inclination With preset orbital inclination The variance between:

[0120]

[0121]

[0122] The onboard computer 1011 can determine whether to perform orbit adjustment according to the following formula:

[0123]

[0124] or

[0125]

[0126] or

[0127]

[0128] in , is the weighting coefficient, is the comprehensive variance threshold.

[0129] In one embodiment, the deviation value may be calculated using an absolute value instead of a variance.

[0130] In one embodiment, satellite 101 obtains the adjustment threshold , adjustment threshold is the maximum adjustment amount that satellite 101 can make within one orbit control cycle. Figure 3 As shown, the onboard computer 1011 outputs a pulse width signal to the thruster 1012 to control the working time of the thruster 1012. The specific signal is as follows Figure 4 shown. Figure 4 In one orbit control cycle, the signal output by the onboard computer includes multiple non-zero discrete digital signals with different widths and zero signals. Figure 4There are three non-zero signals in total, with durations of T1, T2, and T3 respectively. Therefore, the cumulative working time is:

[0131]

[0132] When the adjustment amount is the pulse width signal output time, the adjustment amount threshold is the maximum value of the pulse width signal cumulative output time. The onboard computer 1011 performs orbit adjustment according to the following formula:

[0133]

[0134] In one embodiment, the thruster 1012 is an electronic thruster, and the jet direction of the thruster 1012 can be freely controlled by the onboard computer 1011, thereby realizing any three-axis attitude control of the satellite. Since the control of two axes in the three-axis attitude control only changes the attitude of the satellite but not the orbit of the satellite, the pulse width control signal output by the onboard computer 1011 will act in the direction of the three axes. Therefore, the adjustment threshold is only used to control one axis that affects the orbit. The cumulative working time calculation formula is:

[0135]

[0136] in is the effective working time of the thruster in the orbital direction, for example:

[0137]

[0138] in is the angle between the thruster 1012 and the orbit tangent direction at T1, and so on. is the angle between the thruster 1012 and the orbit tangent direction at T2, etc. Since the angle between the thruster 1012 and the orbit tangent direction is controlled by the onboard computer 1011, the onboard computer 1011 can calculate the equivalent action time of any orbit adjustment.

[0139] In one embodiment, the cumulative working times of the propeller 1012 may be used instead of the cumulative working time, and the adjustment threshold value means the maximum working times of the propeller 1012 allowed within one cycle.

[0140] In one embodiment, the adjustment amount is an orbital parameter, and the adjustment amount threshold is the maximum value of the accumulated change of the orbital parameter, such as the change of the orbital inclination, the change of the semi-major axis, etc.

[0141] Figure 5 FIG. 2 shows a structural block diagram of a track control device according to an embodiment of the present disclosure. Figure 5As shown, the satellite is provided with a separate accumulation controller 1017. The accumulation controller 1017 can receive the adjustment threshold from the communication interface 1015 of the gateway station, read the working time from the thruster 1012, and determine whether to output a prohibition signal to the thruster 1012 according to the adjustment threshold. When the thruster 1012 receives the prohibition signal, the thruster 1012 stops working regardless of whether the onboard computer 1011 outputs an execution command.

[0142] In one embodiment, the accumulation controller 1017 receives the adjustment threshold value through the onboard computer 1011 or the target orbit memory 1013 .

[0143] In one embodiment, the orbit control period includes a preset time period, such as a time period defined in the form of a fraction or integer multiple of the orbit period, or other preset fixed value.

[0144] In one embodiment, the orbit control cycle includes non-specified time generated by judging conditions, such as the time point when the satellite 101 last communicated with the ground gateway station 104 as the starting point and the time when the satellite 101 next establishes communication with the ground gateway station 104 as the end point.

[0145] In one embodiment, the satellite 101 sends a feedback signal to the ground gateway 104 after the orbit control cycle ends. The feedback signal includes one or more of the following information: an instruction on whether the adjustment threshold is reached, the actual adjustment amount, the thruster operation record, and the accumulated time of the pulse width signal. After receiving the signal, the ground gateway 104 analyzes the orbit adjustment of the satellite and generates the parameter configuration required for the satellite orbit adjustment.

[0146] In one embodiment, the satellite 101 reaches the adjustment threshold before the end of the orbit control period, and is therefore prohibited from using thrusters. If the satellite 101 determines that another orbit parameter exceeds its corresponding deviation range, and the other orbit parameter is different from the orbit parameter for initiating orbit control, the satellite 101 initiates an intersatellite link to establish a communication link with the ground gateway 104, and sends a request signaling to the ground gateway 104 to continue orbit adjustment.

[0147] In one embodiment, the ground gateway 104 sends one or more of a deviation range, a preset orbital parameter, and an adjustment threshold, wherein the deviation range is used to indicate an allowable deviation between the satellite's orbital parameter and the preset orbital parameter, and the adjustment amount includes at least one of the adjustment data, adjustment time, and adjustment number of the orbital parameter.

[0148] In one embodiment, the preset orbital parameters sent by the ground gateway 104 include one or more, and the number of the sent deviation ranges is less than or equal to the number of the preset orbital parameters.

[0149] In one embodiment, the ground gateway 104 receives feedback signaling from the satellite 101 .

[0150] In one embodiment, the ground gateway 104 receives a request signal from the satellite 101 to continue orbit adjustment.

[0151] Figure 6 FIG. 2 shows a schematic diagram of a track control system according to an embodiment of the present disclosure. Figure 6 As shown, the system includes a satellite 101, a ground gateway 104-1 and a ground gateway 104-2. The satellite 101 obtains configuration parameters through the ground gateway 104-1, and the configuration parameters include one or more of a deviation range, a preset orbit parameter and an adjustment threshold. During the orbit control period, the satellite 101 calculates the upper and lower limits of the orbit deviation according to the deviation range, and performs orbit control when the satellite exceeds the upper or lower limit.

[0152] Figure 6 The upper limit of orbital deviation and the lower limit of orbital deviation are schematic diagrams. The actual orbital deviation boundary is three-dimensional space.

[0153] Figures 7A-7C FIG. 2 shows a time diagram of track control according to an embodiment of the present disclosure. Fig. 7A As shown, at time Tx, the orbit of satellite 101 exceeds the lower limit of orbit deviation. Figure 7B As shown, the onboard computer 1011 outputs a pulse width signal at time Tx, and the thruster 1012 works under the control of the signal to make the deviation value between the orbit of the satellite 101 and the preset orbit return to within the deviation range.

[0154] Further, such as Figure 7C As shown, the onboard computer 1011 or the cumulative controller 1017 records the cumulative adjustment amount and determines that it is less than the adjustment amount threshold, so the satellite is not prohibited from continuing to adjust the orbit.

[0155] The orbit parameters and adjustment amounts described in all the above embodiments are only examples, and the same method can be performed using other parameters.

[0156] The method described in the above embodiment is not limited to use in a low-orbit satellite system, and other aircraft may also use the method described in the above embodiment.

[0157] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0158] The units or modules involved in the embodiments described in the present disclosure may be implemented by software or programmable hardware. The units or modules described may also be set in a processor, and the names of these units or modules do not constitute limitations on the units or modules themselves in some cases.

[0159] As another aspect, the present disclosure further provides a computer-readable storage medium, which may be a computer-readable storage medium included in the electronic device or computer system in the above embodiment; or a computer-readable storage medium that exists independently and is not assembled into a device. The computer-readable storage medium stores one or more programs, and the programs are used by one or more processors to execute the method described in the present disclosure.

[0160] The above description is only a preferred embodiment of the present disclosure and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the present disclosure is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the inventive concept. For example, the above features are replaced with the technical features with similar functions disclosed in the present disclosure (but not limited to) by each other.

Claims

1. An autonomous orbit control method in a large-scale constellation, characterized in that: include: Get the deviation range, preset orbit parameters, adjustment amount and adjustment amount threshold, The deviation range is used to indicate the allowable deviation between the orbital parameters of the spacecraft and the preset orbital parameters, and the adjustment amount includes at least one of the adjustment data, adjustment time and adjustment number of the orbital parameters. The orbital parameters include one or more of orbital inclination, ascending node ecliptic longitude, eccentricity, perihelion argument, semi-major axis and mean anomaly at a specified epoch; Determine the deviation between the current orbital parameters and the preset orbital parameters, and the accumulated adjustment amount within the period; If the deviation value is not within the deviation range, adjusting the running track; If the accumulated adjustment amount is greater than or equal to the adjustment amount threshold, the system operates on the current track. The accumulated time corresponding to the pulse width signal, wherein the pulse width signal is used to control the working time of the thruster, The accumulated time of the pulse width signal satisfies: or , Wherein, T1...Tn respectively indicate the opening time of each pulse width signal, … Indicates the angle between the thruster direction and the orbit tangent direction at T1...Tn respectively, The deviation value includes: the variance of the difference between the current orbit parameter and the preset orbit parameter, or the absolute value of the difference between the current orbit parameter and the preset orbit parameter, The period includes: a preset time period, or a time period generated by a judgment condition, The preset time period includes: a fraction or integer multiple of the orbital period or a preset fixed value, The time period generated by the determination condition includes: a time period starting from the time point of the last communication with the gateway and ending at the time point of the next communication with the gateway.

2. The method according to claim 1, characterized in that The determining of the deviation value between the current orbit parameter and the preset orbit parameter includes: If the orbit parameter is a parameter, calculating a deviation value between the current orbit parameter and the preset orbit parameter; If the orbital parameter is at least two parameters, the deviation value between the current orbital parameter corresponding to each orbital parameter and the preset orbital parameter corresponding to each orbital parameter is calculated respectively.

3. The method according to claim 1 or 2, characterized in that: If the deviation value is not within the deviation range, adjusting the running track includes: When the orbit parameter is at least two parameters and satisfies at least one of the following conditions, the running orbit is adjusted: If each of the orbital parameters has a corresponding deviation range, at least one deviation value corresponding to the orbital parameter is not within the deviation range corresponding to the orbital parameter; If each of the orbital parameters has a corresponding deviation range, the deviation values ​​corresponding to the plurality of orbital parameters are not within the deviation range corresponding to the orbital parameters; If a plurality of the orbital parameters share a common deviation range, a weighted sum of the deviation values ​​corresponding to the plurality of the orbital parameters is not within the deviation range.

4. The method according to claim 1, characterized in that: Also includes: After the period ends, a feedback signaling is sent to the gateway.

5. The method according to claim 4, characterized in that The feedback signaling includes one or more of the following information: Information on whether the adjustment amount threshold is reached, the actual adjustment amount, the thruster working record and the accumulated time corresponding to the pulse width signal.

6. The method according to claim 5, characterized in that Also includes: In one of the cycles, when the following conditions are met, a request signaling for orbit adjustment is sent to the gateway via the communication link with the gateway. The orbit adjustment is triggered by orbit parameters X1...Xm, and after the cumulative adjustment amount of the orbit adjustment reaches the adjustment amount threshold, The deviation between the orbital parameters Y1...Yn and the corresponding preset orbital parameters exceeds the corresponding deviation range. Wherein, m and n are both integers greater than or equal to 1, and the orbital parameters X1...Xm are different from the orbital parameters Y1...Yn.

7. An autonomous orbit control vehicle in a large-scale constellation, characterized in that: The autonomous orbit control method in a large-scale constellation as claimed in any one of claims 1 to 6, wherein the spacecraft comprises: transceiver modules, onboard computers and thrusters; The transceiver module is used to obtain one or more of a deviation range, a preset orbital parameter, an adjustment amount, and an adjustment amount threshold, wherein the deviation range is used to indicate an allowable deviation between the orbital parameter of the aircraft and the preset orbital parameter, and the adjustment amount includes at least one of adjustment data, adjustment time, and adjustment number of orbital parameters; The onboard computer is used to calculate one or more of the deviation value between the current orbital parameter and the preset orbital parameter and the accumulated adjustment value within a period, If the deviation value is not within the deviation range, the onboard computer outputs an execution command to the thruster.

8. The aircraft according to claim 7, characterized in that Also includes: Totalizer controller, The cumulative controller is used to read and store the working time of the propeller; The cumulative controller is also used to output a prohibition signal to the thruster.

9. An autonomous orbit control gateway in a large-scale constellation, characterized in that: The autonomous orbit control method in a large-scale constellation as claimed in any one of claims 1 to 6, wherein the gateway station comprises: a sending module, configured to send one or more of a deviation range, a preset orbital parameter, an adjustment amount, an adjustment amount threshold, and a signaling allowing adjustment, wherein the deviation range is used to indicate an allowable deviation between the orbital parameter of the aircraft and the preset orbital parameter, and the adjustment amount includes at least one of adjustment data, adjustment time, and adjustment number of the orbital parameter; The aircraft is used to determine the deviation between the current orbital parameters and the preset orbital parameters, and the accumulated adjustment amount within the period; If the deviation value is not within the deviation range, adjusting the running track; If the accumulated adjustment amount is greater than or equal to the adjustment amount threshold, the system runs on the current track.

10. The gateway according to claim 9, characterized in that: Also includes: A receiving module and a computing module; Wherein, the receiving module is used to receive a signal from the aircraft; The calculation module is used to calculate one or more of a deviation range, a preset orbit parameter and an adjustment amount threshold.

11. An autonomous orbit control system in a large-scale constellation, characterized in that: The autonomous orbit control method in a large-scale constellation as claimed in any one of claims 1 to 6, wherein the spacecraft comprises: Gateways and aircraft; The aircraft is used to obtain a deviation range, a preset orbital parameter, an adjustment amount, and an adjustment amount threshold, wherein the deviation range is used to indicate an allowable deviation between the orbital parameter of the aircraft and the preset orbital parameter, and the adjustment amount includes at least one of adjustment data, adjustment time, and adjustment number of orbital parameters; The aircraft is also used to determine the deviation between the current orbital parameters and the preset orbital parameters, and the accumulated adjustment amount within the period; The aircraft is further configured to adjust orbital operation if the deviation value is not within the deviation range; The aircraft is further configured to operate in a current orbit if the accumulated adjustment amount is greater than or equal to the adjustment amount threshold; The gateway is used to send one or more of the deviation range, the preset orbit parameter and the adjustment value threshold.

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