Topological dynamic evolution and maintenance method, device and medium of giant satellite constellation

Abstract

The embodiment of the present invention discloses a method, device and medium for dynamic evolution and maintenance of the topology of a giant satellite constellation; the method may include: predicting the direction in which the satellite in the giant satellite constellation deviates from the satellite topology to which it belongs based on the operating status of the satellite in the giant satellite constellation relative to the central node satellite of the satellite topology to which it belongs; predicting the time when the satellite deviates from the satellite topology to which it belongs based on the direction in which the satellite deviates from the satellite topology to which it belongs and the orbital parameters of the satellite; screening out satellites that need to be reassigned based on a set maintenance cycle and the time when the satellite deviates from the satellite topology to which it belongs; and selecting the best new affiliation satellite topology from a group of candidate affiliation satellite topologies for the satellite that needs to be reassigned.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of satellite constellation control technology, and in particular to a method, device and medium for topological dynamic evolution and maintenance of a giant satellite constellation. Background Art

[0002] Low-orbit giant constellations represented by Starlink and Oneweb are becoming the mainstream of the current international constellation deployment plan. With the increase in the number of satellites and the expansion of the mission scale, the traditional constellation management method based on ground measurement and control management will face huge satellite-ground interaction overheads and will be difficult to respond to a large number of time-sensitive events in real time. Therefore, by topologically dividing the constellation and treating each topology as a whole that can maintain long-term stability and manage autonomous operation on the satellite, the interaction and management problems of giant constellations will be effectively solved. Considering the high dynamics of constellation operation, the various topologies divided within the constellation are constantly in motion, and the resulting divergence of satellites within the topology will become the main challenge for on-board topology management.

[0003] Based on this, we study the divergent evolution laws of topology and apply them to interstellar motion and topological laws to achieve dynamic maintenance of topology, which can provide guarantee for the long-term dynamic and stable management of the constellation. Summary of the invention

[0004] In view of this, the embodiments of the present invention are intended to provide a method, device and medium for the dynamic evolution and maintenance of the topology of a giant satellite constellation; thereby being able to transform an unorganized giant constellation into multiple topologies that can maintain dynamic stability for a long time, and provide technical support for the long-term autonomous operation and management of the giant satellite constellation.

[0005] The technical solution of the embodiment of the present invention is achieved as follows:

[0006] In a first aspect, an embodiment of the present invention provides a method for dynamic topology evolution and maintenance of a giant satellite constellation, the method comprising:

[0007] Predicting the direction in which the satellite deviates from the satellite topology to which it belongs according to the operating status of the satellite in the giant satellite constellation relative to the central node satellite of the satellite topology to which it belongs;

[0008] Predicting the time when the satellite leaves the satellite topology to which it belongs based on the direction in which the satellite leaves the satellite topology to which it belongs and the orbital parameters of the satellite;

[0009] Screening out satellites that need to be reassigned based on a set maintenance cycle and a time when the satellites leave the satellite topology to which they are assigned;

[0010] For the satellite that needs to be re-homed, an optimal new home satellite topology is selected from the candidate home satellite topology group based on a selection strategy with the latest separation time.

[0011] In a second aspect, an embodiment of the present invention provides a topology dynamic evolution and maintenance device for a giant satellite constellation, the device comprising: a first prediction part, a second prediction part, a screening part, and a re-home determination part; wherein,

[0012] The first prediction part is configured to predict the direction in which the satellite deviates from the satellite topology to which it belongs according to the operation status of the satellite in the giant satellite constellation relative to the central node satellite of the satellite topology to which it belongs;

[0013] The second prediction part is configured to predict the time when the satellite leaves the satellite topology to which it belongs based on the direction in which the satellite leaves the satellite topology to which it belongs and the orbital parameters of the satellite;

[0014] The screening part is configured to screen out the satellites that need to be re-homed based on a set maintenance cycle and the time when the satellites leave the satellite topology to which they belong;

[0015] The re-home determination part is configured to select the best new home satellite topology from the candidate home satellite topology group for the satellite that needs to be re-homed based on the selection strategy with the latest separation time.

[0016] In a third aspect, an embodiment of the present invention provides a computing device, the computing device comprising: a communication interface, a memory and a processor; each component is coupled together through a bus system; wherein,

[0017] The communication interface is used to receive and send signals during the process of sending and receiving information with other external network elements;

[0018] The memory is used to store a computer program that can be run on the processor;

[0019] The processor is used to execute the steps of the method for dynamic topology evolution and maintenance of a giant satellite constellation described in the first aspect when running the computer program.

[0020] In a fourth aspect, an embodiment of the present invention provides a computer storage medium, wherein the computer storage medium stores a program for dynamic topology evolution and maintenance of a giant satellite constellation. When the program for dynamic topology evolution and maintenance of a giant satellite constellation is executed by at least one processor, the steps of the method for dynamic topology evolution and maintenance of a giant satellite constellation described in the first aspect are implemented.

[0021] The embodiment of the present invention provides a method, device and medium for the dynamic evolution and maintenance of the topology of a giant satellite constellation; for a satellite in a giant satellite constellation, the direction and time of departure from the satellite topology to which it belongs are predicted, and the satellites that need to be re-assigned to the topology group are screened out based on the maintenance cycle, and the satellite topology to be re-assigned is assigned to the satellite based on the selection strategy with the latest departure time, so that all satellites can always be in a control state with the assigned satellite topology. Thus, the unorganized giant constellation is transformed into multiple topologies that can maintain dynamic stability for a long time, providing technical support for the long-term autonomous operation and management of the giant satellite constellation. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A schematic diagram of a low-orbit giant constellation provided by an embodiment of the present invention;

[0023] Figure 2 A schematic diagram of a process flow of a method for dynamic topological evolution and maintenance of a giant satellite constellation provided by an embodiment of the present invention;

[0024] Figure 3 Satellite provided by the embodiment of the present invention Schematic diagram of the edge of the satellite topological group to which it belongs, along its relative motion trend;

[0025] Figure 4 A schematic diagram of a process for selecting a rehoming satellite topology provided by an embodiment of the present invention;

[0026] Figure 5 A schematic diagram of the composition of a topology dynamic evolution and maintenance device for a giant satellite constellation provided by an embodiment of the present invention;

[0027] Figure 6 A schematic diagram of a specific hardware structure of a computing device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0029] See also Figure 1 The schematic diagram of a low-orbit giant constellation that can be used in the technical solution of the embodiment of the present invention is shown in Figure 1 In the LEO giant constellation shown in FIG. 1 , as shown in the dotted box, topological division can be performed based on the communication connectivity between satellites and the stability of the relative motion relationship, so that the LEO giant constellation is divided into multiple satellite topologies, and the number of satellite topological groups obtained by the division is set to N. c , the total number of satellites contained in the i-th satellite topology is N i. Considering the high dynamics of giant constellations, each satellite topology is also in a constant state of motion, so the satellites in the satellite topology will diverge based on the constant motion process and deviate from the original satellite topology. In order to be able to perform maintenance based on the evolution of the divergent phenomenon of the satellite topology, the embodiments of the present invention are expected to be able to perform regional stable management of the highly dynamic giant constellations, so that all satellites can always be in a controlled state with a satellite topology. Therefore, see Figure 2 , which shows a method for dynamic topological evolution and maintenance of a giant satellite constellation provided by an embodiment of the present invention, the method comprising:

[0030] S201: predicting a direction in which the satellite deviates from the satellite topology to which it belongs according to the operating status of the satellite in the giant satellite constellation relative to the central node satellite of the satellite topology to which it belongs;

[0031] S202: predicting the time when the satellite leaves the satellite topology to which it belongs based on the direction in which the satellite leaves the satellite topology to which it belongs and the orbital parameters of the satellite;

[0032] S203: Screening out satellites that need to be reassigned based on a set maintenance cycle and the time when the satellites leave the satellite topology to which they are assigned;

[0033] S204: Selecting the best new home satellite topology from the candidate home satellite topology group for the satellite that needs to be re-homed based on the selection strategy with the latest separation time.

[0034] pass Figure 2 The technical solution shown predicts the direction and time of satellites in the giant satellite constellation to leave the satellite topology to which they belong, and selects satellites that need to be re-assigned based on the maintenance cycle, and assigns the re-assigned satellite topology to the satellite based on the selection strategy with the latest departure time, so that all satellites can always be in the control state of having a satellite topology group to which they belong. In this way, the unorganized giant constellation is transformed into multiple topologies that can maintain dynamic stability for a long time, providing technical support for the long-term autonomous operation and management of the giant satellite constellation.

[0035] for Figure 2 In some implementations of the technical solution shown, the predicting of the direction in which the satellite deviates from the satellite topology to which it belongs based on the operating state of the satellite in the giant satellite constellation relative to the central node satellite of the satellite topology to which it belongs includes:

[0036] For the entire satellite topology group of a giant satellite constellation, set divergence indicators and a time monitoring sequence for monitoring satellite separation within the satellite topology group;

[0037] According to the relative motion parameters of the satellites in the satellite topology group relative to the central node satellite in the satellite topology to which they belong, the separation direction of the satellite from the satellite topology to which they belong is predicted.

[0038] For the above implementation, in some examples, the divergence index is set for the entire satellite topology group of the giant satellite constellation, and the time monitoring sequence for monitoring the separation of satellites in the satellite topology group includes:

[0039] Establish the matching relationship between the central node satellite and the belonging satellite in each satellite topology;

[0040] Set the topology range radius r of each satellite topology t , effective maintenance distance Δr and maintenance cycle T topo ;

[0041] According to the satellite motion law, the satellite divergence status without continuous topological belonging is counted to establish the divergence index and time monitoring sequence as shown in the following formula:

[0042]

[0043]

[0044] Among them, k i (t) is used to characterize the degree of divergence of the topology of satellite No. i over time, n i is the total number of satellites contained in the i-th satellite topological group at the initial moment, represents the jth satellite in the i-th satellite topological group, Indicates satellite Whether it is out of topology, the satellite The central node satellite satc of the i-th satellite topology group i The relative distance For judgment criteria.

[0045] For the above implementation, in some examples, predicting the direction in which the satellite deviates from the satellite topology to which it belongs according to the relative motion parameter of the satellite in the satellite topology relative to the central satellite in the satellite topology to which it belongs, includes:

[0046] By extracting the six orbital numbers of each satellite in the satellite topology group, the period and speed difference of each satellite relative to the central node satellite in the satellite topology to which it belongs is calculated to characterize the speed of each satellite;

[0047] Calculate the azimuth and relative distance of each satellite relative to the central node satellite in the satellite topology to which it belongs to characterize the current position of each satellite;

[0048] The direction in which each satellite deviates from the edge of the satellite topology to which it belongs is predicted based on its current position and speed.

[0049] Regarding the above implementation and its examples, it should be noted that by designing divergence indicators and monitoring the time monitoring sequence of satellite detachment in the satellite topology group, it is possible to statistically analyze the divergence of the topology group, and combine the period, relative orientation and distance evolution of the satellites in the topology group relative to the central node satellite. By comparing multiple factors affecting the topological divergence, the long-term overall topological divergence trend is quantified as the relative motion relationship of the satellite relative to the topological central node satellite, thereby predicting the motion trend of the satellite relative to the topological edge and the direction of divergence. Through the above implementation and its examples, the operational evolution of the multi-satellite topology can be qualitatively predicted over a long period of time.

[0050] for Figure 2 In some implementations of the technical solution shown, the predicting the time when the satellite leaves the satellite topology to which it belongs based on the direction in which the satellite leaves the satellite topology to which it belongs and the orbital parameters of the satellite includes:

[0051] Determine the orbital element constraints for each satellite to ensure long-term stability relative to the satellite topology to which it belongs;

[0052] According to the running direction of each satellite relative to the central node satellite in the satellite topology to which it belongs and the position relationship of the edge of the satellite topology, the relative speed difference is used to predict the time when each satellite leaves the edge of the satellite topology to which it belongs.

[0053] For the above implementation, in some examples, predicting the time when the satellite leaves the satellite topology to which it belongs based on the direction in which the satellite leaves the satellite topology to which it belongs and the orbital parameters of the satellite includes:

[0054] Calculate the orbital angle of each satellite θ = ω + f, where ω is the argument of perigee and f is the true anomaly;

[0055] Calculate the separation distance d according to the separation direction of each satellite from the satellite topology to which it belongs;

[0056] The time limit constraint for establishing a breakaway topology is as follows:

[0057]

[0058] Where ΔT is The orbital period difference relative to the central node satellite, For satellite The orbital period of For satellite The orbital radius of the satellite The distance from the satellite topological edge to which it belongs along its relative motion trend, δd is the distance from the satellite Distance deviation per unit time;

[0059] The time for each satellite to leave the satellite topology to which it belongs is predicted according to the following formula:

[0060]

[0061] Among them, μ is the gravitational parameter of the earth, and They are central node satellite satc i With satellite The semi-major axis of .

[0062] For the above implementation method and its examples, it should be noted that the bounded conditions of relative motion are used to give the orbital element constraints for the long-term stable operation of the satellite relative to the topological group. Then, based on the positional relationship between the satellite's running direction relative to the central node and the topological edge, the relative speed difference is used to calculate the time when the satellite leaves the topological edge to predict the time when the satellite leaves the satellite topology to which it belongs.

[0063] For Satellite The distance d along its relative motion trend away from the edge of the satellite topology to which it belongs, specifically, Figure 3 As shown in the figure, for example, the central node satellite A, satellite D is a member satellite in the satellite topology with satellite A as the central node. The relationship of satellite D relative to the central node satellite A and the influence of the distance d from the edge of the satellite topology to which it belongs are shown in the following table:

[0064]

[0065] From the above table, we can see that BC, BC', and BD can be obtained by the following formulas respectively.

[0066]

[0067] r keep =r t +Δr

[0068]

[0069] Δθ DB =θ D -θ B =θ D -(θ A +ω A -ω D -Δθ1)

[0070]

[0071] Among them, i is the orbital inclination, r is the orbital radius, Ω is the right ascension of the ascending node corresponding to the satellite point, and r keep The maintenance radius of the circular topology.

[0072] for Figure 2 In some implementations of the technical solution shown, the selecting the best new home satellite topology from the candidate home satellite topology group for the satellite that needs to be re-homed based on the selection strategy with the latest separation time includes:

[0073] Screening out satellites that are out of the satellite topology before the end of the maintenance cycle from all satellites as the satellites that need to be re-homed;

[0074] Screening candidate home satellite topologies for the satellites that need to be re-homed according to visible central node satellites;

[0075] Based on the selection strategy with the latest re-detachment time, the optimal new home satellite topology is selected for the satellite that needs to be re-homed from the candidate home satellite topology group.

[0076] For the above implementation, it should be noted that the satellites that have left the current topology group before the end of the maintenance cycle are screened and transferred to the re-home process; the satellites that have undergone the re-home operation are detected to be out of the topology group, and when the topology is out of the topology again, the re-home process is continued; and the optimal home topology group screening mechanism compares the performance of the possible topologies that the satellite will enter after leaving the current topology, and uses the longer time of the next separation as an indicator to achieve the new topology of the satellite; this method can achieve dynamic stability of the topology of the entire constellation within the entire cycle with a small number of overall satellite re-homes. Specifically, see Figure 4 , the step of selecting the best new home satellite topology from the candidate home satellite topology group for the satellite that needs to be re-homed comprises:

[0077] S401: According to satellite Time determination satellite that is out of the topology of satellite No. i Whether to leave the satellite topology No. i before the end of the maintenance cycle;

[0078] S402: The satellite that will leave the i-th satellite topology before the end of the maintenance cycle Determining the satellite that needs to be re-homed;

[0079] S403: Forming a corresponding visible central node satellite set with the visible central node satellites of the satellite that needs to be re-homed at the time of separation

[0080] S404: Calculate the re - detachment time for each central node satellite in the visible central node satellite set respectively, and select the central node satellite with the latest detachment time as the optimal central node satellite for the subsequent topology attribution;

[0081] S405: When the optimal central node satellite is the same as the current central node satellite, it proves that there is no best choice at this moment, and continuous monitoring is carried out until a new central node satellite appears and is the closest to the satellite;

[0082] S406: Update the re - attribution times N r and the total topology attribution duration

[0083] S407: Judge whether the total attribution duration is less than the topology maintenance period; if the total attribution duration is less than the topology maintenance period, it means that detachment phenomena will still occur subsequently, and transfer to S403 to form a new visible central node satellite set again according to the optimal central node satellite for the subsequent topology attribution Otherwise, enter S408;

[0084] S408: If i < the number of topologies N obtained by the full - constellation division c , and the total number of satellites N in the i - th topology is included i , re - transfer to S401, otherwise enter S409;

[0085] S409: Generate a topology maintenance sequence corresponding to the satellites of the giant satellite constellation.

[0086] Based on the same inventive concept as the foregoing technical solution, see Figure 5 , which shows a topology dynamic evolution and maintenance device 50 of a giant satellite constellation provided by an embodiment of the present invention. The device 50 includes: a first prediction part 501, a second prediction part 502, a screening part 503, and a re - attribution determination part 504; wherein,

[0087] The first prediction part 501 is configured to predict the direction of the satellite detaching from the satellite topology to which it belongs according to the running state of the satellite in the giant satellite constellation relative to the central node satellite of the satellite topology to which it belongs;

[0088] The second prediction part 502 is configured to predict the time of the satellite detaching from the satellite topology to which it belongs based on the direction of the satellite detaching from the satellite topology to which it belongs and the orbital parameters of the satellite;

[0089] The screening part 503 is configured to screen out the satellites that need to be re - attributed based on the set maintenance period and the time of the satellite detaching from the satellite topology to which it belongs;

[0090] The re-home determination part 504 is configured to select the best new home satellite topology from the candidate home satellite topology group for the satellite that needs to be re-homed based on the selection strategy with the latest separation time.

[0091] In some examples, the first prediction part 501 is configured to:

[0092] For the entire satellite topology group of a giant satellite constellation, set divergence indicators and a time monitoring sequence for monitoring satellite separation within the satellite topology group;

[0093] According to the relative motion parameters of the satellites in the satellite topology group relative to the central node satellite in the satellite topology to which they belong, the separation direction of the satellite from the satellite topology to which they belong is predicted.

[0094] Based on the above example, the first prediction part 501 is configured as follows:

[0095] Establish the matching relationship between the central node satellite and the belonging satellite in each satellite topology;

[0096] Set the topology range radius r of each satellite topology t , effective maintenance distance Δr and maintenance cycle T topo ;

[0097] According to the satellite motion law, the satellite divergence status without continuous topological belonging is counted to establish the divergence index and time monitoring sequence as shown in the following formula:

[0098]

[0099]

[0100] Among them, k i (t) is used to characterize the degree of divergence of the topology of satellite No. i over time, n i is the total number of satellites contained in the satellite topology group No. i at the initial moment, represents the jth satellite in the i-th satellite topology, Indicates satellite Whether it is out of topology, the satellite The central node satellite satc with the i-th satellite topology i The relative distance For judgment criteria.

[0101] Based on the above example, the first prediction part 501 is configured as follows:

[0102] By extracting the six orbital numbers of each satellite in the satellite topology group, the period and speed difference of each satellite relative to the central node satellite in the satellite topology to which it belongs is calculated to characterize the speed of each satellite;

[0103] Calculate the azimuth and relative distance of each satellite relative to the central node satellite in the satellite topology to which it belongs to characterize the current position of each satellite;

[0104] The direction in which each satellite will deviate from the edge of the satellite topology to which it belongs is predicted based on its current position and speed.

[0105] In some examples, the second prediction portion 502 is configured to:

[0106] Determine the orbital element constraints for each satellite to ensure long-term stability relative to the satellite topology to which it belongs;

[0107] According to the running direction of each satellite relative to the central node satellite in the satellite topology to which it belongs and the position relationship of the edge of the satellite topology, the relative speed difference is used to predict the time when each satellite leaves the edge of the satellite topology to which it belongs.

[0108] In some examples, the second prediction portion 502 is configured to:

[0109] Calculate the orbital angle of each satellite θ = ω + f, where ω is the argument of perigee and f is the true anomaly;

[0110] Calculate the separation distance d according to the separation direction of each satellite from the satellite topology to which it belongs;

[0111] The time limit constraint for establishing a breakaway topology is as follows:

[0112]

[0113] Where ΔT is The orbital period difference relative to the central node satellite, For satellite The orbital period of For satellite The orbital radius of the satellite The distance from the satellite topological edge to which it belongs along its relative motion trend, δd is the distance from the satellite Distance deviation per unit time;

[0114] The time for each satellite to leave the satellite topology to which it belongs is predicted according to the following formula:

[0115]

[0116] Among them, μ is the gravitational parameter of the earth, and They are central node satellite satc i With satellite The semi-major axis of .

[0117] In some examples, the rehoming determination portion 504 is configured to:

[0118] Screening out satellites that are out of the satellite topology before the end of the maintenance cycle from all satellites as the satellites that need to be re-homed;

[0119] Screening candidate home satellite topologies for the satellites that need to be re-homed according to visible central node satellites;

[0120] Based on the selection strategy with the latest re-detachment time, the optimal new home satellite topology is selected for the satellite that needs to be re-homed from the candidate home satellite topology group.

[0121] In some examples, the rehoming determination portion 504 is configured to perform the following steps: Figure 4 Steps shown:

[0122] S401: According to satellite Time determination satellite that is out of the topology of satellite No. i Whether to leave the satellite topology No. i before the end of the maintenance cycle;

[0123] S402: The satellite that will leave the i-th satellite topology before the end of the maintenance cycle Determining the satellite that needs to be re-homed;

[0124] S403: Forming a corresponding visible central node satellite set with the visible central node satellites of the satellite that needs to be re-assigned at the time of separation

[0125] S404: Calculate the time of re-detachment for each central node satellite in the visible central node satellite set, and select the central node satellite that detaches the latest as the optimal central node satellite for the continued topology affiliation;

[0126] S405: When the optimal central node satellite is the same as the current central node satellite, it is proved that there is no best choice at this moment, and monitoring is continued until a new central node satellite appears and is closest to the satellite;

[0127] S406: Update the re-homing times N of the optimal central node satellite based on the connection topology homing r and total topology attribution time

[0128] S407: If the total belonging time is less than the topology maintenance period, it means that there will be a subsequent separation phenomenon, and the process goes to S403 to form a new visible central node satellite set again based on the optimal central node satellite of the continued topology belonging. Otherwise, proceed to S408;

[0129] S408: If i < N, the number of topologies obtained from the full constellation division c , and j < the total number of satellites N included in the i-th topology i , re-enter S401, otherwise enter S409;

[0130] S409: Generate a topology maintenance sequence corresponding to the satellites of the giant satellite constellation.

[0131] Understandably, in this embodiment, "part" can be a part of a circuit, a part of a processor, a part of a program or software, etc. Of course, it can also be a unit, or a module, or non-modular.

[0132] In addition, each component in this embodiment can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software function module.

[0133] If the integrated unit is implemented in the form of a software function module and is not sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this embodiment, in essence, or the part that contributes to the prior art, or all or part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to execute all or part of the steps of the method described in this embodiment. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM, Read Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs that can store program codes.

[0134] Therefore, this embodiment provides a computer storage medium. The computer storage medium stores a program for the topological dynamic evolution and maintenance of a giant satellite constellation. When the program for the topological dynamic evolution and maintenance of the giant satellite constellation is executed by at least one processor, it implements the steps of the method for the topological dynamic evolution and maintenance of the giant satellite constellation described in the above technical solution.

[0135] According to the above topological dynamic evolution and maintenance device 50 of the giant satellite constellation and the computer storage medium, see Figure 6, which shows the specific hardware structure of a computing device 60 provided by an embodiment of the present invention that can implement the above-mentioned giant satellite constellation topology dynamic evolution and maintenance device 50. The computing device 60 can be a wireless device, a mobile or cellular phone (including a so-called smart phone), a personal digital assistant (PDA), a video game console (including a video display, a mobile video game device, a mobile video conferencing unit), a laptop computer, a desktop computer, a TV set-top box, a tablet computing device, an e-book reader, a fixed or mobile media player, etc. The computing device 60 includes: a communication interface 601, a memory 602 and a processor 603; the various components are coupled together through a bus system 604. It can be understood that the bus system 604 is used to realize the connection and communication between these components. In addition to the data bus, the bus system 604 also includes a power bus, a control bus and a status signal bus. However, for the sake of clarity, in Figure 6 In FIG. 6 , various buses are labeled as bus system 604. Among them,

[0136] The communication interface 601 is used to receive and send signals during the process of sending and receiving information with other external network elements;

[0137] The memory 602 is used to store a computer program that can be run on the processor 603;

[0138] The processor 603 is used to execute the steps of the method for dynamic evolution and maintenance of the topology of the giant satellite constellation in the aforementioned technical solution when running the computer program, which will not be described in detail here.

[0139] It can be understood that the memory 602 in the embodiment of the present invention can be a volatile memory or a non-volatile memory, or can include both volatile and non-volatile memories. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory can be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct RAM bus random access memory (DRRAM). The memory 602 of the systems and methods described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0140] The processor 603 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the hardware integrated logic circuit or software instructions in the processor 603. The above processor 603 may be a general processor, a digital signal processor (Digital Signal Processor, DSP), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), a field programmable gate array (Field Programmable Gate Array, FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present invention can be implemented or executed. The general processor may be a microprocessor or the processor may also be any conventional processor, etc. The steps of the method disclosed in the embodiment of the present invention can be directly embodied as a hardware decoding processor to be executed, or the hardware and software modules in the decoding processor are combined to be executed. The software module can be located in a mature storage medium in the field such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory 602, and the processor 603 reads the information in the memory 602 and completes the steps of the above method in combination with its hardware.

[0141] It is understood that the embodiments described herein may be implemented in hardware, software, firmware, middleware, microcode, or a combination thereof. For hardware implementation, the processing unit may be implemented in one or more application specific integrated circuits (ASIC), digital signal processors (DSP), digital signal processing devices (DSPD), programmable logic devices (PLD), field programmable gate arrays (FPGA), general purpose processors, controllers, microcontrollers, microprocessors, other electronic units for performing the functions described in the present application, or a combination thereof.

[0142] For software implementation, the techniques described herein can be implemented by modules (e.g., procedures, functions, etc.) that perform the functions described herein. The software code can be stored in a memory and executed by a processor. The memory can be implemented in the processor or outside the processor.

[0143] It can be understood that the exemplary technical solutions of the above-mentioned giant satellite constellation topology dynamic evolution and maintenance device 50 and computing device 60 belong to the same concept as the technical solution of the above-mentioned giant satellite constellation topology dynamic evolution and maintenance method. Therefore, the details not described in detail in the above-mentioned technical solutions of the giant satellite constellation topology dynamic evolution and maintenance device 50 and computing device 60 can all be referred to the description of the technical solution of the above-mentioned giant satellite constellation topology dynamic evolution and maintenance method. This embodiment of the present invention will not be described in detail.

[0144] It should be noted that the technical solutions described in the embodiments of the present invention can be combined arbitrarily without conflict.

[0145] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A method for dynamic topological evolution and maintenance of a giant satellite constellation, characterized in that: The method comprises: Predicting the direction in which the satellite deviates from the satellite topology to which it belongs according to the operating status of the satellite in the giant satellite constellation relative to the central node satellite of the satellite topology to which it belongs; Predicting the time when the satellite leaves the satellite topology to which it belongs based on the direction in which the satellite leaves the satellite topology to which it belongs and the orbital parameters of the satellite; Screening out satellites that need to be reassigned based on a set maintenance cycle and a time when the satellites leave the satellite topology to which they are assigned; For the satellite that needs to be re-homed, based on the selection strategy with the latest separation time, select the best new home satellite topology from the candidate home satellite topology group; The step of predicting the direction in which the satellite deviates from the satellite topology to which it belongs according to the operating state of the satellite in the giant satellite constellation relative to the central node satellite of the satellite topology to which it belongs comprises: For the entire satellite topology group of a giant satellite constellation, set divergence indicators and a time monitoring sequence for monitoring satellite separation within the satellite topology group; According to the relative motion parameters of the satellites in the satellite topology group relative to the central node satellite in the satellite topology group to which they belong, predicting the direction in which the satellites will leave the satellite topology group to which they belong; The method of setting a divergence index and a time monitoring sequence for monitoring the separation of satellites in the satellite topology group for the entire satellite topology group of the giant satellite constellation includes: Establish the matching relationship between the central node satellite and the belonging satellite in each satellite topology; Set the topology range radius r of each satellite topology t , effective maintenance distance Δr and maintenance cycle T topo ; According to the satellite motion law, the satellite divergence status without continuous topological belonging is counted to establish the divergence index and time monitoring sequence as shown in the following formula: Among them, k i (t) is used to characterize the degree of divergence of the topology of satellite No. i over time, n i is the total number of satellites contained in the satellite topology No. i at the initial moment, represents the jth satellite in the i-th satellite topology, Indicates satellite Whether it is out of topology, the satellite The central node satellite satc with the i-th satellite topology i The relative distance For the criteria of judgment; The method of predicting the direction in which the satellite deviates from the satellite topology to which it belongs based on the relative motion parameters of the satellite in the satellite topology group relative to the central satellite in the satellite topology group to which it belongs comprises: By extracting the six orbital numbers of each satellite in the satellite topology, the period and speed difference of each satellite relative to the central node satellite in the satellite topology to which it belongs is calculated to characterize the speed of each satellite; Calculate the azimuth and relative distance of each satellite relative to the central node satellite in the satellite topology to which it belongs to characterize the current position of each satellite; According to the current position and speed of each satellite, the direction in which it deviates from the edge of the satellite topology to which it belongs is predicted; The predicting the time when the satellite leaves the satellite topology to which it belongs based on the direction in which the satellite leaves the satellite topology to which it belongs and the orbital parameters of the satellite includes: Determine the orbital element constraints for each satellite to ensure long-term stability relative to the satellite topology to which it belongs; According to the running direction of each satellite relative to the central node satellite in the satellite topology to which it belongs and the position relationship of the satellite topology edge, the relative speed difference is used to predict the time when each satellite leaves the satellite topology edge to which it belongs; The method of selecting the best new home satellite topology from the candidate home satellite topology group for the satellite that needs to be re-homed based on the selection strategy with the latest separation time includes: Screening out satellites that are out of the satellite topology before the end of the maintenance cycle from all satellites as the satellites that need to be re-homed; Screening a candidate home satellite topology group for the satellite that needs to be re-homed according to the visible central node satellite; An optimal new home satellite topology is selected for the satellite that needs to be re-homed from the candidate home satellite topologies based on a selection strategy with the latest re-detachment time.

2. The method according to claim 1, characterized in that The predicting the time when the satellite leaves the satellite topology to which it belongs based on the direction in which the satellite leaves the satellite topology to which it belongs and the orbital parameters of the satellite includes: Calculate the orbital angle of each satellite θ = ω + f, where ω is the argument of perigee and f is the true anomaly; Calculate the separation distance d according to the separation direction of each satellite from the satellite topology to which it belongs; The time limit constraint for establishing a breakaway topology is as follows: Where ΔT is The orbital period difference relative to the central node satellite, For satellite The orbital period of For satellite The orbital radius of the satellite The distance from the satellite topological edge to which it belongs along its relative motion trend, δd is the distance from the satellite Distance deviation per unit time; The time for each satellite to leave the satellite topology to which it belongs is predicted according to the following formula: Where μ is the gravitational parameter of the Earth, and They are central node satellite satc i With satellite The semi-major axis of .

3. The method according to claim 1, characterized in that The method of selecting the best new home satellite topology from the candidate home satellite topology group for the satellite that needs to be re-homed based on the selection strategy with the latest separation time includes: Step 1: According to the satellite Time determination satellite that is out of the topology of satellite No. i Whether to leave the satellite topology No. i before the end of the maintenance cycle; Step 2: Remove the satellite from the i-th satellite topology before the maintenance period ends Determining the satellite that needs to be re-homed; Step 3: The visible central node satellites of the satellites that need to be re-assigned at the time of separation form a corresponding visible central node satellite set Step 4: Calculate the time of re-detachment for each central node satellite in the visible central node satellite set, and select the central node satellite that detaches the latest as the optimal central node satellite for the continued topology affiliation; Step 5: When the optimal central node satellite is the same as the current central node satellite, it proves that there is no best choice at this moment. Continue monitoring until a new central node satellite appears and is closest to the satellite. Step 6: Update the re-homing times N based on the optimal central node satellite of the connection topology r and total topology attribution time Step 7: If the total belonging time is less than the topology maintenance period, it means that there will be a subsequent separation phenomenon. Go to step 3 to form a new visible central node satellite set based on the optimal central node satellite of the continued topology belonging. Otherwise go to step 8; Step 8: If i < N (the number of topologies obtained from the full constellation partition) c , and j < the total number of satellites N in the i-th topology i , re-enter Step 1; otherwise, enter Step 9. Step 9: Generate a topology maintenance sequence corresponding to the satellites of the giant satellite constellation.

4. A topology dynamic evolution and maintenance device for a giant satellite constellation, characterized in that: The device comprises: a first prediction part, a second prediction part, a screening part and a re-attribution determination part; wherein, The first prediction part is configured to predict the direction in which the satellite deviates from the satellite topology to which it belongs according to the operation status of the satellite in the giant satellite constellation relative to the central node satellite of the satellite topology to which it belongs; The second prediction part is configured to predict the time when the satellite leaves the satellite topology to which it belongs based on the direction in which the satellite leaves the satellite topology to which it belongs and the orbital parameters of the satellite; The screening part is configured to screen out the satellites that need to be re-homed based on a set maintenance cycle and the time when the satellites leave the satellite topology to which they belong; The re-home determination part is configured to select the best new home satellite topology from the candidate home satellite topology group for the satellite that needs to be re-homed based on the selection strategy with the latest separation time; Wherein, the first prediction part is configured as follows: For the entire satellite topology group of a giant satellite constellation, set divergence indicators and a time monitoring sequence for monitoring satellite separation within the satellite topology group; According to the relative motion parameters of the satellites in the satellite topology group relative to the central node satellite in the satellite topology group to which they belong, predicting the direction in which the satellites will leave the satellite topology group to which they belong; The first prediction part is configured as follows: Establish the matching relationship between the central node satellite and the belonging satellite in each satellite topology; Set the topology range radius r of each satellite topology t , effective maintenance distance Δr and maintenance cycle T topo ; According to the satellite motion law, the satellite divergence status without continuous topological belonging is counted to establish the divergence index and time monitoring sequence as shown in the following formula: Among them, k i (t) is used to characterize the degree of divergence of the topology of satellite No. i over time, n i is the total number of satellites contained in the satellite topology No. i at the initial moment, represents the jth satellite in the i-th satellite topology, Indicates satellite Whether it is out of topology, the satellite The central node satellite satc with the i-th satellite topology i The relative distance For the criteria of judgment; The first prediction part is configured as follows: By extracting the six orbital numbers of each satellite in the satellite topology, the period and speed difference of each satellite relative to the central node satellite in the satellite topology to which it belongs is calculated to characterize the speed of each satellite; Calculate the azimuth and relative distance of each satellite relative to the central node satellite in the satellite topology to which it belongs to characterize the current position of each satellite; According to the current position and speed of each satellite, the direction in which it deviates from the edge of the satellite topology to which it belongs is predicted; The second prediction part is configured as follows: Determine the orbital element constraints for each satellite to ensure long-term stability relative to the satellite topology to which it belongs; According to the running direction of each satellite relative to the central node satellite in the satellite topology to which it belongs and the position relationship of the satellite topology edge, the relative speed difference is used to predict the time when each satellite leaves the satellite topology edge to which it belongs; The rehoming determination part is configured as follows: Screening out satellites that are out of the satellite topology before the end of the maintenance cycle from all satellites as the satellites that need to be re-homed; Screening a candidate home satellite topology group for the satellite that needs to be re-homed according to the visible central node satellite; An optimal new home satellite topology is selected for the satellite that needs to be re-homed from the candidate home satellite topologies based on a selection strategy with the latest re-detachment time.

5. A computer storage medium, characterized in that: The computer storage medium stores a program for dynamic evolution and maintenance of the topology of a giant satellite constellation. When the program for dynamic evolution and maintenance of the topology of a giant satellite constellation is executed by at least one processor, the steps of the method for dynamic evolution and maintenance of the topology of a giant satellite constellation described in any one of claims 1 to 3 are implemented.

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