A method and device for avoiding interference period under dual target tracking condition

Abstract

The application provides a method and device for avoiding interference period under double-target tracking condition, which comprises the following steps: calculating the included angle between a measurement and control device and a spacecraft in real time according to the position information of the measurement and control device and any two spacecrafts; comparing the size relationship between the included angle and a preset signal interference threshold; determining the signal interference period according to the size relationship; and coordinating the spacecrafts according to the signal interference period. The application realizes the fast and accurate calculation of the signal interference period to be avoided through four links of the included angle calculation method of the measurement and control device and the spacecraft, the setting method of the signal interference threshold of the measurement and control device, the calculation method of the signal interference period and the coordination process of the signal interference period, so as to fully utilize the measurement and control resources and ensure that all tasks can be normally and smoothly carried out.

Description

Technical Field

[0001] This application belongs to the field of aerospace telemetry and control equipment technology, specifically, it relates to a method and device for avoiding interference periods under dual-target tracking conditions. Background Technology

[0002] The telemetry, tracking, and command (TT&C) terminal equipment (hereinafter referred to as terminal equipment) onboard spacecraft establishes a TT&C communication link with TT&C equipment (relay satellites or ground stations) at a specific operating frequency. Normally, the spatial relationships between different spacecraft are relatively safe, and their respective terminal equipment uses different operating frequencies, generally preventing signal interference. However, with the increasing number of spacecraft and the growing scarcity of radio frequency resources, many spacecraft are operating at very similar or even identical frequencies. If they fall within the beam angle range of the same TT&C equipment, signal interference will occur. Therefore, the TT&C department needs to accurately detect whether two spacecraft are within the beam angle range of the same equipment to provide a basis for further judgment on whether signal interference will occur.

[0003] like Figure 1 As shown, the beam angle of the telemetry and control equipment is α. When the telemetry and control equipment performs the telemetry and control task for spacecraft A, the antenna is pointed at spacecraft A. If spacecraft B enters the beam angle range, signal interference may occur if the operating frequencies of the two are similar or even the same. At this time, measures must be taken, such as turning off the transponder of one of the spacecraft, or staggering the operating frequencies, etc.

[0004] In practical engineering, signal interference typically occurs when two spacecraft enter the beam angle range of the same telemetry and control equipment, such as... Figure 2 The ground stations shown track spacecraft in orbit, such as Figure 3 The relay satellite shown tracks the spacecraft in orbit.

[0005] In summary, in engineering terms, regardless of whether a spacecraft is in orbit or undergoing ground testing, and whether the telemetry and control mission is performed by a ground station or a relay satellite, signal interference may occur when any two spacecraft are within the beam angle range of the same telemetry and control equipment.

[0006] In addition, during the factory testing phase, when the spacecraft under test (DUT) establishes a telemetry and control communication channel with the telemetry and control equipment for two-way data transmission and reception tests, signal interference may occur between the on-orbit spacecraft and the DUT under certain circumstances. Specifically, when the DUT establishes a telemetry and control communication channel with the ground station via wired communication, there will be no signal interference between the DUT and the on-orbit spacecraft. However, when establishing a telemetry and control communication channel with a relay satellite, both the DUT and the on-orbit spacecraft establish a wireless connection. When both the on-orbit spacecraft and the DUT are within the beam angle range of the relay satellite, signals on the same frequency band may interfere with each other, such as… Figure 4 As shown. Summary of the Invention

[0007] This application provides a method and apparatus for avoiding interference periods under dual-target tracking conditions, which at least solves the problem of how to provide a method and apparatus for avoiding interference periods under dual-target tracking conditions, which can quickly and accurately calculate the signal interference periods to be avoided, thereby making full use of measurement and control resources and ensuring that various tasks can be carried out normally and smoothly.

[0008] According to the first aspect of this application, a method for avoiding interference periods under dual-target tracking conditions is provided, comprising:

[0009] The angle between the telemetry and control equipment and the spacecraft is calculated in real time based on the acquired position information of the telemetry and control equipment and any two spacecraft.

[0010] Compare the magnitude of the included angle with the preset signal interference threshold;

[0011] Determine the signal interference period based on the magnitude relationship;

[0012] Coordination between spacecraft is carried out based on the period of signal interference.

[0013] In one embodiment, the angle between the telemetry and control equipment and the spacecraft is calculated in real time based on the position information of the telemetry and control equipment and the spacecraft, including:

[0014] To obtain the spatial positions of two spacecraft and telemetry and control equipment at the same moment;

[0015] Construct a planar triangle based on the spatial positions of the telemetry and control equipment and the two spacecraft;

[0016] Calculate the included angles of the three elements based on the constructed planar triangle;

[0017] The set of angle information between the telemetry and control equipment and the two spacecraft over a period of time is obtained based on the angle at different times.

[0018] In one embodiment, comparing the magnitude of the included angle with a preset signal interference threshold includes:

[0019] Each angle in the set of angle information between the telemetry and control equipment and the two spacecraft over a period of time is compared with a preset quotation mark interference threshold;

[0020] If the included angle is less than the signal interference threshold, there is a possibility of signal interference.

[0021] In one embodiment, determining the signal interference period based on magnitude relationship includes:

[0022] Obtain the time corresponding to all angles less than the signal interference threshold;

[0023] A set of signal interference periods is generated based on these times.

[0024] In one embodiment, coordinating between spacecraft based on periods of signal interference includes:

[0025] Identify the periods of signal interference and determine whether to initiate a coordination process;

[0026] If so, spacecraft scheduling is ordered according to the pre-set mission priority levels;

[0027] If the mission priorities are the same, spacecraft scheduling will be carried out according to the preset avoidance strategy.

[0028] According to another aspect of this application, an interference period avoidance device under dual-target tracking conditions is also provided, comprising:

[0029] Angle calculation unit is used to calculate the angle between the telemetry and control equipment and the spacecraft in real time based on the acquired position information of the telemetry and control equipment and any two spacecraft;

[0030] The comparison unit is used to compare the magnitude relationship between the included angle and a preset signal interference threshold.

[0031] The signal interference period determination unit is used to determine the signal interference period based on the magnitude relationship.

[0032] The scheduling and coordination unit is used to coordinate between spacecraft based on periods of signal interference.

[0033] In one embodiment, the included angle calculation unit includes:

[0034] The spatial position acquisition module is used to acquire the spatial positions of two spacecraft and telemetry and control equipment at the same time.

[0035] The triangle building module is used to construct a planar triangle based on the spatial positions of the telemetry and control equipment and the two spacecraft.

[0036] The included angle calculation module is used to calculate the included angles of the three elements based on the constructed planar triangle.

[0037] The angle set module is used to obtain the set of angle information between the telemetry and control equipment and the two spacecraft over a period of time based on the angles at different times.

[0038] In one embodiment, the comparison unit includes:

[0039] The comparison module is used to compare each angle in the set of angle information between the telemetry and control equipment and the two spacecraft over a period of time with a preset quotation mark interference threshold.

[0040] The interference detection module is used to determine the possibility of signal interference if the included angle is less than the signal interference threshold.

[0041] In one embodiment, the signal interference period determination unit includes:

[0042] The time acquisition module is used to acquire the time corresponding to all angles less than the signal interference threshold;

[0043] The set generation module is used to generate a set of signal interference periods based on these times.

[0044] In one embodiment, the scheduling and coordination unit includes:

[0045] The start-up judgment module is used to judge the period of signal interference and determine whether to start the coordination process;

[0046] The scheduling and sorting module is used to schedule and sort spacecraft according to a pre-set mission priority level, if so.

[0047] The scheduling module is used to schedule spacecraft according to a preset avoidance strategy if the mission priorities are the same.

[0048] This application achieves rapid and accurate calculation of signal interference periods to be avoided through four steps: a method for calculating the angle between the telemetry and control equipment and the spacecraft, a method for setting the signal interference threshold of the telemetry and control equipment, a method for calculating the signal interference period, and a coordination process for the signal interference period. This allows for full utilization of telemetry and control resources and ensures that all tasks can be carried out normally and smoothly. Attached Figure Description

[0049] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0050] Figure 1 This is a background diagram provided for this application.

[0051] Figure 2To enable ground stations to track spacecraft in orbit.

[0052] Figure 3 To enable relay satellites to track spacecraft in orbit.

[0053] Figure 4 A schematic diagram illustrating interference generated by signals in the same frequency band.

[0054] Figure 5 This is a schematic diagram illustrating the existing solution using manual interpretation.

[0055] Figure 6 This is a schematic diagram of the beam angle.

[0056] Figure 7 This is a method for avoiding interference periods under dual-target tracking conditions.

[0057] Figure 8 In this embodiment of the application, the angle between the telemetry and control equipment and the spacecraft is calculated in real time based on the position information of the telemetry and control equipment and the spacecraft.

[0058] Figure 9 This embodiment compares the magnitude relationship between the included angle and the preset signal interference threshold.

[0059] Figure 10 In this embodiment of the application, the signal interference period is determined based on the magnitude relationship.

[0060] Figure 11 In this embodiment of the application, coordination between spacecraft is performed based on the period of signal interference.

[0061] Figure 12 The spatial positions of the three entities within the same time period in the embodiments of this application are shown.

[0062] Figure 13 The angle between the telemetry and control equipment and the two spacecraft changes over a period of time as the spacecraft's position changes in this embodiment of the application.

[0063] Figure 14 This application provides a device for avoiding interference periods under dual-target tracking conditions.

[0064] Figure 15 This is a structural block diagram of the included angle calculation unit in the embodiments of this application.

[0065] Figure 16 This is a structural block diagram of the comparison unit in an embodiment of this application.

[0066] Figure 17 This is a structural block diagram of the signal interference period determination unit in the embodiments of this application.

[0067] Figure 18This is a structural block diagram of the scheduling and coordination unit in an embodiment of this application.

[0068] Figure 19 This is a specific implementation of an electronic device in the embodiments of this application. Detailed Implementation

[0069] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0070] The telemetry, tracking, and command (TT&C) arc, or simply arc, refers to the time range during which a spacecraft can be observed by TT&C equipment (relay satellites or ground stations) while it is in orbit (hereinafter referred to as an on-orbit spacecraft). Additionally, spacecraft undergoing factory testing (hereinafter referred to as test-and-control spacecraft) need to be connected to TT&C communication channels for testing. The difference is that the test-and-control spacecraft is connected to the ground station via a wired connection, unaffected by time; while when connected to a relay satellite, the test-and-control spacecraft, due to its movement with the Earth, is essentially in orbit, and the method used for on-orbit spacecraft must be referenced to calculate the time range during which the relay satellite can observe it, also known as the TT&C arc.

[0071] Beam angle: such as Figure 6 As shown, the beam angle is the angle from the extension of the sensor's central axis outwards to the point where the energy intensity is reduced by half (3dB).

[0072] In response to the problems in the background technology, in the early stages when the number of spacecraft was small, the usual approach was to take measures such as turning off the transponder and switching the operating frequency after signal interference occurred.

[0073] As the number of spacecraft increases, the frequency of signal interference also gradually increases. We can no longer passively wait for signal interference to occur before taking action. Therefore, we have adopted the method of manually estimating the relative distance between two spacecraft to roughly determine whether they will cause signal interference, and adjust the operating frequency in advance or deploy new telemetry and control equipment to participate in the telemetry and control.

[0074] During ground testing of spacecraft, test personnel typically analyze all relay tracking and control (TT&C) segments for the spacecraft under test and select idle time slots on relay satellites without on-orbit spacecraft TT&C missions to conduct ground testing. If idle time slots on relay satellites cannot be found, test personnel need to estimate the spatial relationship between the on-orbit spacecraft, the spacecraft under test, and the relay satellites, mark the potentially impactful time slots, and, based on the mission priorities of both parties, coordinate through mechanisms to have one party relinquish its TT&C segment or negotiate the use of different frequency bands.

[0075] Existing solutions use manual interpretation, such as Figure 5 As shown, roughly judging the possibility of signal interference based on the distance between spacecraft has the following drawbacks:

[0076] (1) The existing solution relies entirely on the engineering experience and personal ability of the operators, which is slow and usually requires multiple people to compare and verify, resulting in extremely low efficiency.

[0077] (2) The existing scheme is difficult to operate, especially when the ground station is performing the telemetry and control mission. From the moment the spacecraft flies out of the horizon to when it flies directly above the ground station, the same distance parameter value cannot be used to make a judgment. The judgment standard must be changed by adjusting the elevation angle of the telemetry and control equipment, which increases the difficulty of actual operation and brings great uncertainty to the judgment result.

[0078] (3) The existing solution can only adapt to the work mode of following the project nodes and implementing according to the plan. The emergency response speed is slow. Once there is a temporary adjustment or emergency, it cannot respond quickly and cannot meet the needs of emergency response.

[0079] (4) Existing solutions have many limitations, such as requiring the two spacecraft to have roughly the same orbital altitude and the spacecraft not to perform violent orbital maneuvers to change their orbital altitude.

[0080] (5) Existing solutions often misjudge, causing false alarms, triggering unnecessary interference time coordination processes, wasting available measurement and control time periods, incurring additional time costs, and consuming a large amount of human resources.

[0081] (6) Existing solutions often fail to make judgments in advance, fail to coordinate and deal with the situation in advance, and respond passively after signal interference occurs, which affects the normal progress of subsequent engineering tasks.

[0082] To address the above problems, this application provides a method for avoiding interference periods under dual-target tracking conditions, such as... Figure 7 As shown, it includes:

[0083] S701: Calculates the angle between the telemetry and control equipment and the spacecraft in real time based on the acquired position information of the telemetry and control equipment and any two spacecraft.

[0084] S702: Compare the magnitude relationship between the included angle and the preset signal interference threshold.

[0085] S703: Determine the signal interference period based on the magnitude relationship.

[0086] S704: Coordinate between spacecraft based on periods of signal interference.

[0087] In one embodiment, the angle between the telemetry and control equipment and the spacecraft is calculated in real time based on the position information of the telemetry and control equipment and the spacecraft, such as... Figure 8 As shown, it includes:

[0088] S801: Obtain the spatial position of two spacecraft and telemetry and control equipment at the same moment.

[0089] S802: Construct a planar triangle based on the spatial positions of the telemetry and control equipment and the two spacecraft.

[0090] S803: Calculate the included angle of the three elements based on the constructed planar triangle.

[0091] S804: Obtain the set of angle information between the telemetry and control equipment and the two spacecraft over a period of time based on the angle at different times.

[0092] In one specific embodiment, for any two spacecraft and any telemetry and control equipment, the angle between the two spacecraft and the telemetry and control equipment is calculated based on the spatial positional relationship between the three.

[0093] The spatial position of spacecraft and telemetry and control equipment is calculated and provided by specialized software. Typically, the spatial position of the spacecraft at each moment within a certain period is given at fixed intervals of ΔT. This article does not involve the calculation of spatial position; it can be obtained directly when needed.

[0094] Spacecraft and telemetry equipment can both be abstracted as a point in space, and the position of a point in space during a certain period of time can be denoted as P = {P1, P2, ..., P...}. i ,…,P n}, where P i =(t i ,X i ,Y i Z i ) represents the spatial location at a given moment, t i Represents a moment, (X) i ,Y i Z i () represents the coordinates of the point at that moment in the spatial coordinate system, i = 1, 2, ..., n.

[0095] Let R represent the telemetry and control equipment, and A and N represent the two spacecraft respectively. Correspondingly, let P...R P A P B These represent the spatial positions of the three objects within the same time period, respectively:

[0096]

[0097]

[0098]

[0099] like Figure 12 As shown, at t i The three moments at that time form a planar triangle. Let their spatial positions at that moment be:

[0100]

[0101]

[0102]

[0103] like Figure 12 As shown, using basic plane geometry, we calculate the side lengths of triangle ΔRAB and the cosine value of ∠BRA, cosβ, step by step. i Finally, t is obtained using inverse trigonometric functions. i The angle β between the three at any given moment i :

[0104]

[0105]

[0106]

[0107]

[0108] β i =arccosβ i

[0109] Ultimately, a set of angle information between the telemetry and control equipment R and the two spacecraft over a certain period of time is obtained (hereinafter referred to as the telemetry and control equipment angle information).

[0110] J = {J1, ..., J} i ,…,J n},

[0111] Among them, J i =(t i ,β i ) represents t i The angle between the timing test device R and the two spacecraft is β. i, i = 1, 2, ..., n.

[0112] In one embodiment, the relationship between the included angle and a preset signal interference threshold is compared, such as... Figure 9 As shown, it includes:

[0113] S901: Compare each angle in the set of angle information between the telemetry and control equipment and the two spacecraft over a period of time with a preset quotation mark interference threshold.

[0114] S902: If the included angle is less than the signal interference threshold, there is a possibility of signal interference.

[0115] In one specific embodiment, to facilitate software development and engineering implementation, a unified parameter setting method is provided as shown in Table 1 below:

[0116] Table 1 Signal Interference Thresholds for Measurement and Control Equipment

[0117] Equipment 1 <![CDATA[α1]]> Equipment 2 <![CDATA[α2]]> … … Device R <![CDATA[α R ]]> … …

[0118] Each antenna has an optimal operating frequency, also known as its center frequency. Around this center frequency, the antenna has a certain frequency range within which different operating frequencies can be selected. Since the relationship between the antenna's aperture, beam angle, and center frequency is fixed, for any telemetry and control equipment, only a signal interference threshold needs to be set for its center operating frequency. This threshold is taken as the beam angle of the telemetry and control equipment. When the angle between the telemetry and control equipment and two spacecraft is less than the equipment's signal interference threshold—meaning the two spacecraft have entered the beam angle range of the same telemetry and control equipment—signal interference is considered possible.

[0119] In one embodiment, the signal interference period is determined based on the magnitude relationship, such as... Figure 10 As shown, it includes:

[0120] S1001: Obtain the time corresponding to all angles less than the signal interference threshold.

[0121] S1002: Generate a set of signal interference periods based on these times.

[0122] In one specific embodiment, it is assumed that the signal interference threshold of the measurement and control device R is α. R Based on the included angle information J of the measurement and control equipment, the angle is calculated to be less than the threshold α. R The time period can be identified as a period that may cause signal interference.

[0123] like Figure 13As shown, within a certain time period, as the spacecraft's position changes, the angle between the telemetry and control equipment and the two spacecraft also changes. The trend of this angle change is not necessarily monotonic; there may be more than one time period where the angle is less than the signal interference threshold. The process involves iterating through the telemetry and control equipment angle information set J and determining whether the angle value in the information is less than the threshold α. R This yields the set of time periods where signal interference may occur, L = {L1, L2, ..., L...} k ,…,L m}, where L k =(s k e k () represents a period of interference, k = 1, 2, ..., m. Obviously, during this period, the angle between the telemetry and control equipment and the two spacecraft is less than the threshold α. R The specific method is as follows:

[0124] 1) First, select a subset from set J whose included angle is less than a threshold. in, j = 1, 2, ..., p, that is, satisfying the following condition:

[0125]

[0126] JJ here α J α The complement of J, i.e.

[0127]

[0128] 2) Then, based on a fixed duration ΔT (the fixed duration is used when calculating the spatial position of the aforementioned spacecraft and telemetry equipment), the signal interference period is calculated as follows:

[0129] i) Calculate J sequentially α The time interval between two adjacent included angles is obtained as T = {T1, ..., T} j ,…,T p-1},in, j = 1, 2, ..., p-1;

[0130] ii) Using a fixed duration ΔT as a reference, obtain the set of marker numbers N = {N1, ..., N}. c ,…,N m-1}, where N c ∈{1,2,…,p-1}, and c = 1, 2, ..., m-1

[0131] iii) Based on the set of marker numbers N, construct the time periods of signal interference sequentially.

[0132]

[0133] In one embodiment, coordination between spacecraft is performed based on the period of signal interference, such as... Figure 11 As shown, it includes:

[0134] S1101: Determine the period of signal interference and decide whether to initiate the coordination process.

[0135] S1102: If so, spacecraft scheduling is ordered according to the pre-set mission priority level.

[0136] S1103: If the mission priorities are the same, spacecraft scheduling will be carried out according to the preset avoidance strategy.

[0137] In one specific embodiment, in order to coordinate and allocate telemetry and control resources and ensure the smooth implementation of tasks such as spacecraft telemetry and control, on-orbit experiments, and ground testing, it is necessary to reasonably formulate coordination procedures and provide corresponding avoidance strategies in order to avoid interference periods, gradually resolve conflicts, and continuously improve the utilization efficiency of telemetry and control resources.

[0138] 1) Criteria for initiating the coordination process during the interference period

[0139] If the two spacecraft operate on different frequencies, there will be no signal interference, and no coordination process needs to be initiated.

[0140] If two spacecraft use the same operating frequency, there will inevitably be signal interference, requiring a coordination process to take measures to eliminate the interference.

[0141] 2) Differentiate and prioritize measurement and control tasks

[0142] Based on the importance and urgency of different types of tasks, clear task priorities are set as a basis for avoiding interference periods, adjusting telemetry and control resources, and resolving conflicts.

[0143] Table 2 Priority Settings for Measurement and Control Tasks

[0144] Ⅰ Major Emergency Orbit maintenance, etc. Ⅱ Everyday Applications Data transmission, etc. Ⅲ General events Equipment testing, etc.

[0145] As shown in Table 2, three task priorities are set, in descending order as I, II, and III, with the importance decreasing in that order.

[0146] 3) Avoidance strategies under different interference modes

[0147] Depending on the mission priority settings, there are two modes: two spacecraft with different mission priorities and two spacecraft with the same mission priority. Appropriate avoidance strategies need to be adopted to differentiate between these modes, as shown in Table 3.

[0148] Table 3 Signal Interference Avoidance Strategies

[0149]

[0150] • Mode 1: Different task priorities are given, with priority given to ensuring the implementation of higher-level tasks. The avoidance strategy is as follows:

[0151] If spacecraft performing lower-level missions can adjust their operating frequency

[0152] The spacecraft performing the lower-level mission executes Mode 1 Strategy 1. After adjusting the operating frequency, the two spacecraft use different frequencies to operate, avoiding interference, and both share the telemetry and control period.

[0153] If spacecraft performing low-level missions cannot adjust their operating frequency

[0154] The spacecraft performing the lower-level mission executes Strategy 2 of Mode 1, relinquishing the telemetry and control period, which is then exclusively occupied by the higher-level mission.

[0155] • In Mode 2, where tasks have the same priority, the avoidance strategy is as follows:

[0156] If both spacecraft can adjust their operating frequencies

[0157] Then, a human decision is required to select one of the spacecraft to execute mode 2 strategy 1. After adjusting the operating frequency, the two spacecraft will use different frequencies to carry out their work to avoid interference, and both will share the telemetry and control period.

[0158] If only one spacecraft can adjust its operating frequency

[0159] The spacecraft with adjustable operating frequency executes Strategy 2 in Mode 2. After adjusting the operating frequency, the two spacecraft use different frequencies to operate, avoiding interference, and both share the telemetry and control period.

[0160] If neither party can adjust the working frequency

[0161] Then a human decision is required to execute one of the following two branches:

[0162] a) Select one of the spacecraft to execute mode 2 strategy 2, and after giving up the telemetry and control period, the telemetry and control period will be exclusively occupied by another spacecraft.

[0163] b) After consultation between the two spacecraft, strategy 3 of mode 2 is implemented, with both parties dividing the telemetry and control time periods and using different time periods to avoid interference.

[0164] Based on the same inventive concept, this application also provides an interference period avoidance device under dual-target tracking conditions, which can be used to implement the method described in the above embodiments, as shown in the following embodiments. Since the principle of the interference period avoidance device under dual-target tracking conditions is similar to that of the interference period avoidance method under dual-target tracking conditions, the implementation of the interference period avoidance device under dual-target tracking conditions can refer to the implementation of the interference period avoidance method under dual-target tracking conditions, and repeated details will not be elaborated further. As used below, the terms "unit" or "module" can refer to a combination of software and / or hardware that implements a predetermined function. Although the system described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0165] According to another aspect of this application, an interference period avoidance device under dual-target tracking conditions is also provided, such as... Figure 14 As shown, it includes:

[0166] Angle calculation unit 1301 is used to calculate the angle between the telemetry and control equipment and the spacecraft in real time based on the acquired position information of the telemetry and control equipment and any two spacecraft;

[0167] Comparison unit 1302 is used to compare the magnitude relationship between the included angle and a preset signal interference threshold;

[0168] The signal interference period determination unit 1303 is used to determine the signal interference period based on the magnitude relationship.

[0169] The scheduling and coordination unit 1304 is used to coordinate between spacecraft based on the period of signal interference.

[0170] In one embodiment, such as Figure 15 As shown, the included angle calculation unit 1301 includes:

[0171] The spatial position acquisition module 1401 is used to acquire the spatial positions of two spacecraft and telemetry and control equipment at the same time.

[0172] Triangle building module 1402 is used to construct a planar triangle based on the spatial positions of the telemetry and control equipment and the two spacecraft;

[0173] Angle calculation module 1403 is used to calculate the included angles of the three elements based on the constructed planar triangle;

[0174] The included angle set module 1404 is used to obtain the included angle information set between the telemetry and control equipment and the two spacecraft over a period of time based on the included angle at different times.

[0175] In one embodiment, such as Figure 16 As shown, the comparison unit 1302 includes:

[0176] The comparison module 1501 is used to compare each angle in the set of angle information between the telemetry and control equipment and the two spacecraft over a period of time with a preset quotation mark interference threshold.

[0177] The interference detection module 1502 is used to determine the possibility of signal interference if the included angle is less than the signal interference threshold.

[0178] In one embodiment, such as Figure 17 As shown, the signal interference period determination unit 1303 includes:

[0179] The time acquisition module 1601 is used to acquire the time corresponding to all angles less than the signal interference threshold;

[0180] The set generation module 1602 is used to generate a set of signal interference periods based on these times.

[0181] In one embodiment, such as Figure 18 As shown, the scheduling and coordination unit 1304 includes:

[0182] The start judgment module 1701 is used to judge the period of signal interference and determine whether to start the coordination process;

[0183] The scheduling and sorting module 1702 is used to schedule and sort spacecraft according to a pre-set mission priority level if the task is so specified.

[0184] The scheduling module 1703 is used to schedule spacecraft according to a preset avoidance strategy if the mission priorities are the same.

[0185] This application also provides a specific implementation of an electronic device capable of implementing all the steps in the methods described above. See [link to implementation details]. Figure 19 The electronic device specifically includes the following:

[0186] Processor 1801, memory 1802, communications interface 1803, bus 1804, and non-volatile memory 1805;

[0187] The processor 1801, memory 1802, and communication interface 1803 communicate with each other through the bus 1804.

[0188] The processor 1801 is used to call a computer program in the memory 1802 and the non-volatile memory 1805. When the processor executes the computer program, it implements all the steps in the method in the above embodiments. For example, when the processor executes the computer program, it implements the following steps:

[0189] S701: Calculates the angle between the telemetry and control equipment and the spacecraft in real time based on the acquired position information of the telemetry and control equipment and any two spacecraft.

[0190] S702: Compare the magnitude relationship between the included angle and the preset signal interference threshold.

[0191] S703: Determine the signal interference period based on the magnitude relationship.

[0192] S704: Coordinate between spacecraft based on periods of signal interference.

[0193] Embodiments of this application also provide a computer-readable storage medium capable of implementing all steps of the methods in the above embodiments. The computer-readable storage medium stores a computer program that, when executed by a processor, implements all steps of the methods in the above embodiments. For example, when the processor executes the computer program, it implements the following steps:

[0194] S701: Calculates the angle between the telemetry and control equipment and the spacecraft in real time based on the acquired position information of the telemetry and control equipment and any two spacecraft.

[0195] S702: Compare the magnitude relationship between the included angle and the preset signal interference threshold.

[0196] S703: Determine the signal interference period based on the magnitude relationship.

[0197] S704: Coordinate between spacecraft based on periods of signal interference.

[0198] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on its differences from other embodiments. In particular, for hardware + program embodiments, since they are basically similar to method embodiments, the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments. Although the embodiments in this specification provide the method operation steps as shown in the embodiments or flowcharts, more or fewer operation steps may be included based on conventional or non-inventive means. The order of steps listed in the embodiments is merely one possible execution order among many steps and does not represent the only execution order. In actual device or terminal product execution, the methods can be executed in the order shown in the embodiments or drawings or in parallel (e.g., in a parallel processor or multi-threaded processing environment, or even a distributed data processing environment). The terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, product, or apparatus that includes a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, product, or apparatus. Without further limitations, the presence of other identical or equivalent elements in the process, method, product, or apparatus that includes said elements is not excluded. For ease of description, the above devices are described in terms of function, divided into various modules. Of course, in implementing the embodiments of this specification, the functions of each module can be implemented in one or more software and / or hardware, or the module implementing the same function can be implemented by a combination of multiple sub-modules or sub-units, etc. The device embodiments described above are merely illustrative. For example, the division of units is only a logical functional division; in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms. This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing device to produce a machine, such that the instructions, which are executable by the processor of the computer or other programmable data processing device, produce instructions for implementing the process. Figure 1 One or more processes and / or boxes Figure 1The apparatus is designed to perform the functions specified in one or more boxes. Those skilled in the art will understand that embodiments of this specification can be provided as methods, systems, or computer program products. Therefore, embodiments of this specification can take the form of entirely hardware embodiments, entirely software embodiments, or embodiments combining software and hardware aspects. Furthermore, embodiments of this specification can take the form of computer program products implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code. The various embodiments in this specification are described in a progressive manner, with reference to each other for similar or identical parts. Each embodiment focuses on describing the differences from other embodiments. In particular, system embodiments are generally similar to method embodiments, so the description is relatively simple, and relevant parts can be referred to in the description of the method embodiments. In the description of this specification, references to terms such as "an embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example that are included in at least one embodiment or example of the embodiments of this specification. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples, without contradiction. The above descriptions are merely examples of embodiments of this specification and are not intended to limit the embodiments of this specification. Various modifications and variations can be made to the embodiments of this specification by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of the embodiments of this specification should be included within the scope of the claims of the embodiments of this specification.

Claims

1. A method for avoiding interference periods under dual-target tracking conditions, characterized in that, include: Based on the acquired position information of the telemetry and control equipment and any two spacecraft, the angles between the lines connecting the telemetry and control equipment and the two spacecraft are calculated in real time. Compare the magnitude of the included angle with the preset signal interference threshold; The signal interference period is determined based on the aforementioned magnitude relationship; Coordination between spacecraft is carried out based on the period of signal interference. The step of determining the signal interference period based on the magnitude relationship includes: obtaining the times corresponding to all angles smaller than the signal interference threshold; and generating a set of signal interference periods based on these times, wherein: Traverse the set of angle information of the measurement and control equipment Determine whether the included angle value in the information is less than the signal interference threshold. This yields a set of time periods where signal interference may occur. ,in, This indicates a period of signal interference. Clearly, during this period, the angle between the lines connecting the telemetry and control equipment to the two spacecraft is less than the signal interference threshold. The specific method is as follows: First, from the set Select a subset whose included angle is less than the signal interference threshold. ,in, , In the formula, express The angle between the time tracking and control equipment and the two spacecraft is That is, the following conditions must be met: here represent exist The complement of the inner set, i.e. Then, according to a fixed duration The signal interference period is calculated based on the determination criteria, and the duration is fixed. The value is the time interval used in calculating the spatial position of the aforementioned spacecraft and telemetry equipment, as detailed below: (1) Calculate in sequence The time interval between two adjacent included angles is obtained. ,in, , ; (2) With a fixed duration Based on this, we obtain the set of tag numbers. ,in, ,and , ; (3) Based on the set of marker numbers Sequentially construct the time periods of signal interference 。 2. The interference period avoidance method under dual-target tracking conditions according to claim 1, characterized in that, The step of calculating in real time the angles between the lines connecting the telemetry and control equipment and the two spacecraft based on the acquired position information of the telemetry and control equipment and any two spacecraft includes: To obtain the spatial positions of two spacecraft and telemetry and control equipment at the same moment; Construct a planar triangle based on the spatial positions of the telemetry and control equipment and the two spacecraft; Calculate the included angles of the three elements based on the constructed planar triangle; The set of angle information between the telemetry and control equipment and the two spacecraft over a period of time is obtained based on the angle at different times.

3. The interference period avoidance method under dual-target tracking conditions according to claim 1, characterized in that, The comparison of the included angle with a preset signal interference threshold includes: Each angle in the set of angle information between the telemetry and control equipment and the two spacecraft over a period of time is compared with a preset signal interference threshold. If the included angle is less than the signal interference threshold, there is a possibility of signal interference.

4. The interference period avoidance method under dual-target tracking conditions according to claim 1, characterized in that, The coordination between spacecraft based on the signal interference period includes: The period of signal interference is determined to decide whether to initiate a coordination process. If so, spacecraft scheduling is ordered according to the pre-set mission priority levels; If the mission priorities are the same, spacecraft scheduling will be carried out according to the preset avoidance strategy.

5. A device for avoiding interference periods under dual-target tracking conditions, characterized in that, include: Angle calculation unit is used to calculate in real time the angle between the line connecting the telemetry and control equipment and the two spacecraft based on the acquired position information of the telemetry and control equipment and any two spacecraft; The comparison unit is used to compare the magnitude relationship between the included angle and a preset signal interference threshold; A signal interference period determination unit is used to determine the signal interference period based on the magnitude relationship; A scheduling and coordination unit is used to coordinate between spacecraft according to the period of signal interference. The signal interference period determination unit is further configured to acquire the times corresponding to all angles less than the signal interference threshold; and generate a signal interference period set based on these times, wherein: Traverse the set of angle information of the measurement and control equipment Determine whether the included angle value in the information is less than the signal interference threshold. This yields a set of time periods where signal interference may occur. ,in, This indicates a period of signal interference. Clearly, during this period, the angle between the lines connecting the telemetry and control equipment and the two spacecraft is less than the threshold. The specific method is as follows: First, from the set Select a subset whose included angle is less than a threshold. ,in, , In the formula, express The angle between the time tracking and control equipment and the two spacecraft is That is, the following conditions must be met: here represent exist The complement of the inner set, i.e. Then, according to a fixed duration The signal interference period is calculated based on the determination criteria, and the duration is fixed. The value is the time interval used in calculating the spatial position of the aforementioned spacecraft and telemetry equipment, as detailed below: (1) Calculate in sequence The time interval between two adjacent included angles is obtained. ,in, , ; (2) With a fixed duration Based on this, we obtain the set of tag numbers. ,in, ,and , ; (3) Based on the set of marker numbers Sequentially construct the time periods of signal interference 。 6. The interference period avoidance device under dual-target tracking conditions according to claim 5, characterized in that, The included angle calculation unit includes: The spatial position acquisition module is used to acquire the spatial positions of two spacecraft and telemetry and control equipment at the same time. The triangle building module is used to construct a planar triangle based on the spatial positions of the telemetry and control equipment and the two spacecraft. The included angle calculation module is used to calculate the included angles of the three elements based on the constructed planar triangle. The angle set module is used to obtain the set of angle information between the telemetry and control equipment and the two spacecraft over a period of time based on the angles at different times.

7. The interference period avoidance device under dual-target tracking conditions according to claim 5, characterized in that, The comparison unit includes: The comparison module is used to compare each angle in the set of angle information between the telemetry and control equipment and the two spacecraft over a period of time with a preset signal interference threshold. An interference detection module is used to determine the possibility of signal interference if the included angle is less than the signal interference threshold.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the steps of the interference period avoidance method under dual-target tracking conditions as described in any one of claims 1 to 4.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program implements the steps of the interference period avoidance method under dual-target tracking conditions as described in any one of claims 1 to 4.

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