A hybrid constellation design method for low-orbit multi-payload global coverage in space networking

Abstract

The present invention provides a hybrid constellation design method consisting of a near-polar orbit sub-constellation and an inclined orbit sub-constellation for a space networking low-orbit constellation system configured with a variety of application payloads, so as to meet the space networking requirements of different payload applications and laser inter-satellite links through a relatively small constellation scale, and has strong engineering application value and prospects. The method comprises the following steps: S1: determining constellation design requirements; S2: determining near-polar orbit and inclined orbit constellation payload configurations and main design target parameters; S3: designing the boundaries of key coverage areas of inclined orbit sub-constellations; S4: determining the orbital height of the hybrid constellation; S5: designing near-polar orbit sub-constellations; S6: designing inclined orbit sub-constellations; S7: analyzing and determining the ground coverage characteristics of the hybrid constellation based on the design results of steps S5 and S6, and completing the design of the hybrid constellation.

Description

Technical Field

[0001] The present invention relates to the field of satellite technology and can be directly applied to the design of constellation systems such as low-orbit communications and navigation. Background Art

[0002] Compared with high-orbit satellite systems, low-orbit constellation systems have the advantages of low orbit height, low link loss, low transmission delay, and global coverage. In recent years, low-orbit constellation systems have become a hot spot for development in the fields of communications and navigation, and have been widely used in related fields. Foreign countries have formed low-orbit constellation systems such as the Iridium system, Iridium Next Generation, Globalstar, and Oneweb. The above-mentioned constellation systems can be divided into two categories. The first category is a constellation with an orbital inclination of about 90°, represented by the Iridium system and the Oneweb system. The biggest feature of this constellation is that it can cover the world, but the coverage of the constellation in the North and South Poles will be greatly improved, thereby reducing the efficiency of the constellation. The other type of constellation is a low-inclination constellation represented by Globalstar. This type of constellation can meet the coverage characteristics of mid- and low-latitudes, but under the condition of limited orbital height, it cannot achieve coverage of the North and South Poles, that is, it cannot meet the global coverage application needs.

[0003] With the development of aerospace technology, satellite functions have become more complex. Traditional communication, navigation payloads and emerging application technologies are integrated in the same system to reduce the scale and cost of system construction. At the same time, limited by the scale of global station construction and the coverage area of ​​low-orbit single-star satellite, Wei Wendelin. Dual-LEO satellite system and method for global coverage. CN201780031548.4" focuses on defining the system space segment, user terminal and ground segment solutions from the system level. The space segment adopts a dual-LEO satellite system for global communication consisting of a polar constellation and an inclined constellation, but the constellation design steps and methods are not clear.

[0004] The present invention provides a hybrid constellation design method consisting of a near-polar orbit sub-constellation and an inclined orbit sub-constellation for a space networking low-orbit constellation system configured with multiple application payloads, so as to meet the space networking requirements of different payload applications and laser inter-satellite links through a smaller constellation scale, and has strong engineering application value and prospects. Summary of the invention

[0005] The purpose of the present invention is to provide a method for designing a constellation scheme for a low-orbit satellite system with multiple service functions. The focus is on solving the global coverage constellation design that meets the differentiated service area requirements of different service payloads and the spatial networking requirements of laser inter-satellite links, and a global coverage hybrid constellation design method consisting of a near-polar orbit constellation and an inclined orbit constellation is proposed.

[0006] The present invention is achieved through the following technical solutions:

[0007] A method for designing a hybrid constellation for low-orbit multi-payload global coverage in a space network, characterized by comprising the following steps:

[0008] S1: Determine the constellation design requirements, including the functional requirements of various payloads of the constellation, the ground coverage requirements of each payload, the minimum communication angle requirements, and the requirements for on-orbit networking and link establishment;

[0009] S2: According to the constellation design requirements, determine the near-polar orbit and inclined orbit constellation payload configuration and main design target parameters, mainly including the minimum communication elevation angle E of the near-polar orbit sub-constellation. 1 , minimum coverage multiplicity, minimum communication angle E of inclined orbit 2 and minimum coverage weight;

[0010] S3: Design the boundaries of the key coverage areas of the inclined orbit sub-constellation, comprehensively consider the service range and coverage requirements of various payloads configured by the inclined orbit satellite, and select the largest service latitude range among different payloads as the coverage area boundary of the inclined orbit sub-constellation, that is, the coverage latitude range λ of the inclined orbit sub-constellation;

[0011] S4: Determine the orbit height of the hybrid constellation, design the orbit height according to the space environment and constellation scale constraints, and determine the orbit height H of the near-polar orbit constellation 1 , the orbit height of the inclined orbit sub-constellation H 2 ;

[0012] S5: Near-polar orbit sub-constellation design;

[0013] S6: Inclined orbit sub-constellation design;

[0014] S7: Based on the design results of step S5 and step S6, analyze and determine the ground coverage characteristics of the hybrid constellation to complete the hybrid constellation design.

[0015] Furthermore, step S5 specifically includes the following steps:

[0016] S5-1: Design of near-polar orbit sub-constellation configuration, based on the inclined orbit height H 1 , the classical coverage band method is used to design the near-polar orbit sub-constellation, determine the coverage angle φ of a single satellite, the total number of satellites N in the near-polar orbit sub-constellation 1 、Number of tracks P 1 , orbital inclination and phase difference;

[0017] S5-2: Design of the phase difference between satellites in the same position on adjacent orbits and the laser intersatellite link connection scheme for different orbits. For polar orbit constellations with an orbital inclination of about 90°, the phase difference between satellites in the same position on adjacent orbits is selected as π / q 1, the constellation satellites are most evenly distributed and the ground coverage characteristics are optimal. At this time, the communication distance and laser link establishment azimuth of the inter-orbital link are moderate, which is conducive to inter-orbit laser link establishment;

[0018] S5-3: Use commercial software to model and simulate the near-polar orbit sub-constellation determined by steps S5-1 and S5-2, and finally obtain the minimum communication angle and minimum coverage multiplicity of the near-polar orbit sub-constellation.

[0019] Furthermore, in step S5-1, the calculation method of the coverage angle φ is as follows:

[0020] φ=arccos(R e cos(E 1 ) / (R e +H 1 ))-E 1

[0021] Among them, E is the minimum communication angle of the near-polar orbit, R e is the radius of the earth. For a given angle θ, the angular distance 2b between the subsatellite points of adjacent satellites and the coverage width 2c can be calculated as follows:

[0022] c=arcsin(sinφsinθ)

[0023] b = arcsin(tanc / tanθ)

[0024] When one layer of coverage is satisfied, the number of orbital surfaces required is P 1 =π / 2c, the number of satellites in each orbit is q 1 =π / b, total number of satellites N 1 =P 1 ×q 1 By selecting a suitable value of θ, the number of satellites in the near-polar orbit constellation is minimized.

[0025] Further, step S6 specifically includes the following steps:

[0026] S6-1: Design of inclined orbit sub-constellation configuration, based on the inclined orbit height H determined in step S4 2 , commercial software is used to simulate and analyze the ground coverage characteristics under different constellation configurations, and the sub-constellation coverage latitude range λ and the minimum communication angle E are selected. 2 , the minimum satellite number configuration with the lowest coverage multiplicity is used as the inclined orbit sub-constellation configuration, and the total number of satellites N of the inclined orbit sub-constellation is determined 2 、Number of tracks P 2 and the orbital inclination i 2 ;

[0027] S6-2: Determine the phase factor F of the inclined orbit sub-constellation and the laser link establishment connection scheme. Based on the inclined orbit sub-constellation configuration determined in step S6-1, determine the phase factor F and the laser link establishment connection scheme from three aspects: ground coverage characteristics, intra-constellation satellite collision analysis, and inter-satellite laser link establishment;

[0028] S6-3: Use commercial software to model and simulate the inclined orbit sub-constellation determined by steps S6-1 and S6-2, and finally obtain the minimum communication angle and minimum coverage multiplicity of the inclined orbit sub-constellation.

[0029] Further, in step S6-2, from the perspective of the constellation's coverage characteristics, when the phase factor F calculated as follows is selected, the constellation satellites are most evenly distributed, which is beneficial to improving the minimum communication angle. The greater the difference between the selected phase factor F and the result calculated by the following formula, the worse the constellation coverage characteristics are:

[0030] F = round((πP 2 / N 2 -Ф)N 2 / (2π))if Ф<=πP 2 / N 2

[0031] F=P 2 +round((πP 2 / N 2 -Ф)N 2 / (2π))ifФ>πP 2 / N 2

[0032] Where round is the rounding function, and Ф is calculated by the following formula:

[0033] Ф=arctan(tan(2π / P 2 )cos(i 2 ))

[0034] To avoid collisions between satellites in a constellation, if the number of orbital planes in the constellation is P 2 Even number, number of satellites per orbit N 2 / P 2 When it is an odd number, the phase factor F is selected from 0 to P 2 -1; if the constellation orbital plane P 2 Even number, number of satellites per orbit N 2 / P 2 When it is an even number, the phase factor F is selected from 0 to P 2 -1; if the orbital surface number P 2 When it is an odd number, the minimum distance between satellites under different phase factors F can be calculated through simulation to avoid selecting an F value that is too small for the minimum distance;

[0035] The communication distance, communication azimuth and angular velocity, and pitch angle and angular velocity of a certain satellite when establishing a laser link with the nearest satellites on the adjacent orbital plane under different phase factors F are analyzed and calculated, and several sets of phase factors F with moderate variation ranges of off-orbit laser link distance and communication azimuth angle, which are most conducive to the realization of the project, are selected as candidates;

[0036] Taking the above analysis results into consideration, the phase factor F of the inclined orbit sub-constellation and the principle of off-orbit laser chain establishment are finally determined.

[0037] The present invention designs a hybrid constellation consisting of a near-polar orbit sub-constellation and an inclined orbit sub-constellation. The two sub-constellation satellites are configured with different payload functions to achieve a combination of global coverage of the constellation and enhanced coverage of key areas, effectively reducing the constellation scale and construction costs. At the same time, the constellation design takes into account the needs of laser inter-satellite link building and networking, and realizes the optimized design of laser link building. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 A schematic diagram of the definition of the cover band design method used in the design of the near-polar orbit sub-constellation in the invention;

[0039] Figure 2 A schematic diagram of the geometric relationship of the influence of the phase factor of the inclined orbit constellation on the coverage characteristics provided by the invention, as well as a schematic diagram of the establishment of the inter-satellite link;

[0040] Figure 3 It is a hybrid constellation composed of 72 near-polar orbit satellites and 144 inclined orbit satellites in the embodiment of the present invention;

[0041] Figure 4 is the minimum communication elevation angle and the minimum coverage multiplicity of the near-polar orbit sub-constellation at different geographical latitudes in the embodiment of the present invention;

[0042] Figure 5 is the minimum communication elevation angle and the minimum coverage multiplicity of the inclined orbit sub-constellation at different geographical latitudes in the embodiment of the present invention;

[0043] Figure 6 It is the minimum communication angle and the minimum coverage multiplicity of the hybrid constellation broadband payload designed in the embodiment of the present invention at different geographical latitudes. DETAILED DESCRIPTION

[0044] The purpose of the present invention is to provide a method for designing a constellation scheme for a low-orbit satellite system with multiple service functions. The focus is on solving the global coverage constellation design that meets the differentiated service area requirements of different service payloads and the spatial networking requirements of laser inter-satellite links. A global coverage hybrid constellation design method consisting of a near-polar orbit constellation and an inclined orbit constellation is proposed. The specific steps are as follows:

[0045] (1) Clarify the constellation design requirements, including the functional requirements of various payloads in the constellation, the ground coverage requirements of each payload, the minimum communication angle requirements, and the requirements for on-orbit networking and link establishment. These requirements are directly required by users or determined through market analysis or user application demand analysis, and serve as the top-level input and requirements for constellation system design;

[0046] (2) According to different payload application requirements, determine the payload configuration and main design target parameters of near-polar orbit and inclined orbit constellations, mainly including the minimum communication angle E of the near-polar orbit sub-constellation. 1 , minimum coverage multiplicity, minimum communication angle E of inclined orbit 2 and minimum coverage weight;

[0047] Among them, near-polar orbit satellites are equipped with payloads or functions that require global coverage, and inclined orbit satellites are equipped with payloads that only require coverage of mid- and low-latitudes or require enhanced coverage of mid- and low-latitudes. The largest minimum communication belief angle and the highest coverage multiplicity among the payloads configured for near-polar orbit satellites and inclined orbit satellites are selected as the minimum communication belief angle and the minimum coverage multiplicity of the two sub-constellations.

[0048] (3) Design the boundaries of the key coverage areas of the inclined orbit sub-constellation. Comprehensively consider the service range and coverage requirements of various payloads configured on inclined orbit satellites, and select the largest service latitude range among different payloads as the coverage area boundary of the inclined orbit sub-constellation, that is, the coverage latitude range λ of the inclined orbit sub-constellation;

[0049] (4) Determine the orbital height of the hybrid constellation and design the orbital height according to the space environment and the constellation size constraints. Considering the collision risk, try to avoid the orbital layer with high density of space debris; considering the cost of satellite deorbit, the satellite orbital height should not be too high; at the same time, the higher the orbital height, the smaller the constellation size under the condition of meeting the ground coverage requirements. According to the orbital height range of the low-orbit constellation and taking the above factors into consideration, determine the orbital height H of the near-polar orbit constellation. 1 , the orbit height of the inclined orbit sub-constellation H 2 ;

[0050] (5) Design of near-polar orbit sub-constellation.

[0051] (5.1) Design of near-polar orbit sub-constellation configuration. Based on the inclined orbit height H determined in step (4), 1 , the classical coverage band method is used to design the near-polar orbit sub-constellation, determine the coverage angle φ of a single satellite, the total number of satellites N in the near-polar orbit sub-constellation 1 、Number of tracks P 1 , orbital inclination and phase difference;

[0052] The calculation method of coverage angle φ is as follows:

[0053] φ=arccos(R e cos(E 1 ) / (R e +H 1 ))-E 1

[0054] Where, E is the minimum communication angle of near polar orbit, R e is the radius of the earth. For a given angle θ, the angular distance 2b between the subsatellite points of adjacent satellites and the coverage width 2c can be calculated as follows:

[0055] c=arcsin(sinφsinθ)

[0056] b = arcsin(tanc / tanθ)

[0057] When one layer of coverage is satisfied, the number of orbital surfaces required is P 1 =π / 2c, the number of satellites in each orbit is q 1 =π / b, total number of satellites N 1 =P 1 ×q 1 By selecting a suitable value of θ, the number of satellites in the near-polar orbit constellation is minimized.

[0058] In order to avoid all orbits intersecting at one point in the polar region, the orbital inclination i 1 Appropriately reduce it from 90° to reduce the risk of satellite collision.

[0059] (5.2) Phase difference between satellites in the same position on adjacent orbits and design of inter-orbit laser satellite link connection scheme. For polar orbit constellations with an orbital inclination of about 90°, the phase difference between satellites in the same position on adjacent orbits is selected as π / q 1 , the constellation satellites are most evenly distributed and the ground coverage characteristics are optimal. At this time, the communication distance and laser link establishment azimuth of the inter-orbital link are moderate, which is conducive to inter-orbit laser link establishment.

[0060] (5.3) Commercial software is used to model and simulate the near-polar orbit sub-constellation determined by (5.1) and (5.2), and finally the minimum communication angle and minimum coverage multiplicity of the near-polar orbit sub-constellation are obtained.

[0061] The coverage characteristics are the ground coverage characteristics of the payload configured only on the near-polar orbit satellite.

[0062] (6) Inclined orbit sub-constellation design.

[0063] (6.1) Inclined orbit sub-constellation configuration design. Based on the inclined orbit height H determined in step (3), 2, commercial software is used to simulate and analyze the ground coverage characteristics under different constellation configurations, and the sub-constellation coverage latitude range λ and the minimum communication angle E are selected. 2 , the minimum satellite number configuration with the lowest coverage multiplicity is used as the inclined orbit sub-constellation configuration, and the total number of satellites N of the inclined orbit sub-constellation is determined 2 、Number of tracks P 2 and the orbital inclination i 2 ;

[0064] (6.2) Determine the phase factor F of the inclined orbit sub-constellation and the laser link establishment scheme. Based on the inclined orbit sub-constellation configuration determined in (6.1), the phase factor F and the laser link establishment scheme are determined from three aspects: ground coverage characteristics, intra-constellation satellite collision analysis, and inter-satellite laser link establishment.

[0065] From the perspective of the constellation's coverage characteristics, when the phase factor F calculated as follows is selected, the constellation satellites are most evenly distributed, which is conducive to improving the minimum communication angle. The greater the difference between the selected phase factor F and the result calculated by the following formula, the worse the constellation coverage characteristics.

[0066] F = round((πP 2 / N 2 -Ф)N 2 / (2π))if Ф<=πP 2 / N 2

[0067] F=P 2 +round((πP 2 / N 2 -Ф)N 2 / (2π))ifФ>πP 2 / N 2

[0068] Where round is the rounding function, and Ф is calculated by the following formula:

[0069] Ф=arctan(tan(2π / P 2 )cos(i 2 ))

[0070] To avoid collisions between satellites in a constellation, if the number of orbital planes in the constellation is P 2 Even number, number of satellites per orbit N 2 / P 2 When it is an odd number, the phase factor F is selected from 0 to P 2 -1; if the constellation orbital plane P 2 Even number, number of satellites per orbit N 2 / P 2 When it is an even number, the phase factor F is selected from 0 to P 2-1; if the orbital surface number P 2 When it is an odd number, the minimum distance between satellites under different phase factors F can be calculated through simulation to avoid selecting an F value that is too small for the minimum distance.

[0071] The communication distance, communication azimuth and angular velocity, and variation range of pitch angle and angular velocity when a certain satellite establishes a laser link with several satellites closest to the adjacent orbital plane under different phase factors F are analyzed and calculated, and several sets of phase factors F with moderate variation range of off-orbit laser link distance and communication azimuth angle, which are most conducive to the implementation of the project, are selected as alternatives.

[0072] Taking the above analysis results into consideration, the phase factor F of the inclined orbit sub-constellation and the principle of off-orbit laser chain establishment are finally determined.

[0073] (6.3) Commercial software is used to model and simulate the inclined orbit sub-constellation determined by (6.1) and (6.2), and finally the minimum communication angle and minimum coverage multiplicity of the inclined orbit sub-constellation are obtained.

[0074] The coverage characteristic is the ground coverage characteristic of the payload configured only on the inclined orbit sub-constellation.

[0075] (7) Based on the design results of steps (5) and (6), the ground coverage characteristics of the hybrid constellation are analyzed and determined to complete the design of the hybrid constellation. The hybrid constellation coverage characteristics are the ground coverage characteristics of the payloads configured on both the near-polar orbit constellation and the inclined orbit constellation.

[0076] The present invention will be further described below in conjunction with specific embodiments:

[0077] Taking the low-orbit constellation design that needs to have mobile communication function, broadband communication function, navigation enhancement function, and uses laser link networking in orbit as an example, the specific design steps are as follows:

[0078] (1) Clarify the requirements for constellation design. The constellation system has mobile communication functions, broadband communication functions, and navigation enhancement functions. The ground coverage characteristics of each function are as follows: Mobile communication function: global single-layer coverage, the minimum communication angle of ground communication equipment is better than 13.5°; Broadband communication: Considering interference avoidance, the constellation design must meet global double-layer coverage, and focus on improving the coverage of densely populated areas around the world, and the minimum communication angle of ground communication equipment is 20°; Navigation enhancement payload: global single-layer coverage, the minimum communication angle is better than 8°.

[0079] (2) Determine the payload configuration and main design target parameters of near-polar orbit and inclined orbit constellations. Determine the configuration of mobile communications, broadband communications and navigation enhancement payloads for near-polar orbit sub-constellation satellites. The near-polar orbit constellation must meet the requirements of global single-layer coverage and minimum communication angle E. 1The inclined orbit constellation satellite is equipped with broadband communication payload, which needs to meet the minimum communication angle E 2 It is 20°, with double coverage of the world and enhanced coverage of densely populated areas around the world.

[0080] (3) In response to the need to enhance the coverage of broadband communication payloads in densely populated areas around the world, the inclined orbit sub-constellation is designed to cover a latitude range of λ of 65°, that is, the sub-constellation broadband service covers the latitude between 65° north and south.

[0081] (3) In order to reduce the size of the constellation, the orbit height H of the near-polar orbit constellation is designed. 1 The orbit height of the inclined orbit sub-constellation is 1200km. 2 It is 1150km.

[0082] (5) Design of near-polar orbit sub-constellation.

[0083] (5.1) Design of near-polar orbit sub-constellation configuration.

[0084] According to the track height H 1 The minimum communication angle is 13.5°, and the coverage angle φ is 21.57°. According to the analysis of the polar orbit classical coverage belt, Figure 1 The constellation parameters that satisfy 1-fold coverage under different values ​​of θ defined in are as follows.

[0085] θ <![CDATA[Number of satellites per orbit / q 1 > <![CDATA[Number of tracks / P 1 > Total number of satellites in the constellation 59.8 16 5 80 54.7 14 6 84 51.4 13 6 78 47.3 12 6 72 41.8 11 7 77 34.7 10 8 80 28.2 10 9 90

[0086] It can be seen that the minimum number of satellites N that meets the design 1 There are 72 satellites, corresponding to the number of orbits P 1 is 6, with 12 satellites per orbit, and further selecting the satellite orbit inclination i 1 to 86.5° to reduce the risk of satellite collision.

[0087] (5.2) The phase difference of the satellites in the same orbit is selected to be 18°. The rule for establishing the inter-satellite link in different orbits is to establish a link between satellite 101 on orbital plane 1 and satellite 201 on orbital plane 2. The communication distance ranges from 2524km to 4660km, and the azimuth angle of the inter-orbit laser link ranges from ±61°.

[0088] (5.3) According to the above design results, the ground coverage characteristics of the near-polar orbit constellation are simulated and calculated as follows Figure 4 As shown in the figure, under the constraint of 13.5° minimum communication elevation angle, global single-layer coverage is achieved, and the actual minimum communication elevation angle is 14.9°, which meets the coverage requirements of mobile communication and navigation enhancement functions.

[0089] (6) Inclined orbit sub-constellation design.

[0090] (6.1) Inclined orbit sub-constellation configuration design. According to the orbit height H 2 The main service area is between 65° north and south latitude, and the minimum coverage is 2. The coverage characteristics of different configuration schemes are analyzed by commercial software to obtain the number of inclined orbit sub-constellation satellites N. 2 There are 144 satellites and the number of orbits is P 2 is 12, and the orbital inclination i 2 It is 57°.

[0091] (6.2) Number of constellation orbits P 2 If is an even number, the phase factor F can only be an odd number. According to the configuration given by (6.1), Φ is 17.45°, and then it is calculated that when F is 11, the constellation coverage is the most uniform, so the final selected F is as close to 11 as possible.

[0092] Further considering the establishment of inter-satellite links in different orbits, a comprehensive analysis is conducted on the range of laser link azimuth and communication distance under different F values ​​and different inter-orbit laser link establishment rules. When the phase factor is 11, satellites 101 and 212 are selected to establish the link. The laser link communication distance ranges from 1085km to 3733km, and the azimuth ranges from ±64°, which is convenient for engineering implementation.

[0093] Based on the above considerations, the phase factor F is taken as 11, and the rule for establishing a laser link in different orbits is to establish a link between 101 satellites on orbital plane 1 and 212 satellites on orbital plane 2.

[0094] (6.3) According to the above design results, the ground coverage characteristics of the inclined orbit sub-constellation are simulated and calculated as follows Figure 5 As shown in the figure, under the constraint of 20° communication angle, double coverage is satisfied between 65° north and south latitude, and the minimum communication angle is 23.18°.

[0095] (7) Through simulation analysis, the ground coverage characteristics of the hybrid constellation are obtained as follows: Figure 6 As shown, the minimum communication opening angle is 23.18°. Taking broadband communication as the object of investigation, under the constraint of a minimum communication opening angle of 20 degrees, the world meets the double coverage requirement.

[0096] Parts of the present invention that are not described in detail belong to common knowledge among those skilled in the art.

Claims

1. A method for designing a hybrid constellation for low-orbit multi-payload global coverage in a space network, characterized in that: The following steps are involved: S1: Determine the constellation design requirements, including the functional requirements of various payloads of the constellation, the ground coverage requirements of each payload, the minimum communication angle requirements, and the requirements for on-orbit networking and link establishment; S2: According to the constellation design requirements, determine the near-polar orbit and inclined orbit constellation payload configuration and main design target parameters, mainly including the minimum communication step angle E1 and minimum coverage multiplicity of the near-polar orbit sub-constellation, and the minimum communication step angle E2 and minimum coverage multiplicity of the inclined orbit; S3: Design the boundaries of the key coverage areas of the inclined orbit sub-constellation, comprehensively consider the service range and coverage requirements of various payloads configured by the inclined orbit satellite, and select the largest service latitude range among different payloads as the coverage area boundary of the inclined orbit sub-constellation, that is, the coverage latitude range λ of the inclined orbit sub-constellation; S4: Determine the orbit height of the hybrid constellation. Design the orbit height according to the space environment and constellation size constraints, and determine the orbit height H1 of the near-polar orbit constellation and the orbit height H2 of the inclined orbit sub-constellation. S5: Near-polar orbit sub-constellation design; specific The following steps are involved: S5-1: Design of near-polar orbit sub-constellation configuration: Based on the inclined orbit height H1, the near-polar orbit sub-constellation is designed using the classic coverage band method to determine the coverage angle φ of a single satellite, the total number of satellites N1 of the near-polar orbit sub-constellation, the number of orbits P1, the orbital inclination and the phase difference; S5-2: Design of the phase difference between satellites in the same position on adjacent orbits and the connection scheme of inter-orbit laser satellite links. For polar orbit constellations with an orbital inclination of about 90°, the phase difference between satellites in the same position on adjacent orbits is selected as π / q1, which makes the distribution of constellation satellites most uniform and the ground coverage characteristics optimal. At this time, the communication distance of the inter-orbit satellite link and the azimuth angle of the laser link establishment are moderate, which is conducive to the inter-orbit laser link establishment. S5-3: Modeling and simulating the near-polar orbit sub-constellation determined by steps S5-1 and S5-2 using commercial software, and finally obtaining the minimum communication beam angle and minimum coverage multiplicity of the near-polar orbit sub-constellation; S6: Inclined orbit sub-constellation design; The specific steps include: S6-1: Design of inclined orbit sub-constellation configuration. According to the inclined orbit height H2 determined in step S4, commercial software is used to simulate and analyze the ground coverage characteristics under different constellation configurations, and the minimum number of satellites that meets the sub-constellation coverage latitude range λ, the minimum communication angle E2, and the minimum coverage multiplicity is selected as the inclined orbit sub-constellation configuration, and the total number of satellites N2, the number of orbits P2, and the orbital inclination i2 of the inclined orbit sub-constellation are determined; S6-2: Determine the phase factor F of the inclined orbit sub-constellation and the laser link establishment connection scheme. Based on the inclined orbit sub-constellation configuration determined in step S6-1, determine the phase factor F and the laser link establishment connection scheme from three aspects: ground coverage characteristics, intra-constellation satellite collision analysis, and inter-satellite laser link establishment; S6-3: Modeling and simulating the inclined orbit sub-constellation determined by steps S6-1 and S6-2 using commercial software, and finally obtaining the minimum communication beam angle and minimum coverage multiplicity of the inclined orbit sub-constellation; S7: Based on the design results of step S5 and step S6, analyze and determine the ground coverage characteristics of the hybrid constellation to complete the hybrid constellation design.

2. The method according to claim 1, characterized in that In step S6-2, from the perspective of the constellation's coverage characteristics, when the phase factor F calculated as follows is selected, the constellation satellites are most evenly distributed, which is conducive to improving the minimum communication angle. The greater the difference between the selected phase factor F and the result calculated by the following formula, the worse the constellation coverage characteristics are: F=round((πP2 / N2-Ф)N2 / (2π))ifФ<=πP2 / N2 F=P2+round((πP2 / N2-Ф)N2 / (2π))ifФ>πP2 / N2 Where round is the rounding function, and Ф is calculated by the following formula: Ф=arctan(tan(2π / P2)cos(i2)) To avoid collisions between satellites in the constellation, if the number of orbital planes P2 of the constellation is an even number and the number of satellites per orbit N2 / P2 is an odd number, the phase factor F is an even number between 0 and P2-1. If the constellation orbital plane P2 is an even number and the number of satellites per orbit N2 / P2 is an even number, the phase factor F is an odd number between 0 and P2-1; If the orbital plane number P2 is an odd number, the minimum distance between satellites under different phase factors F is calculated through simulation to avoid selecting an F value that is too small for the minimum distance; The communication distance, communication azimuth and angular velocity, and pitch angle and angular velocity of a certain satellite when establishing a laser link with the nearest satellites on the adjacent orbital plane under different phase factors F are analyzed and calculated, and several sets of phase factors F with moderate variation ranges of off-orbit laser link distance and communication azimuth angle, which are most conducive to the realization of the project, are selected as candidates; Taking the above analysis results into consideration, the phase factor F of the inclined orbit sub-constellation and the principle of off-orbit laser chain establishment are finally determined.

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