A space station satellite fly-around orbit design method considering the shielding effect

Abstract

The application discloses a space station satellite fly-around orbit design method considering a shielding effect, and comprises the following steps: geometric processing is conducted on a target body, and parameter equations of various space geometric surfaces and boundary constraints of the target geometric surface are calculated; a satellite observation line-of-sight parameter equation is constructed according to a position of a point to be observed and a satellite fly-around orbit position; various line-of-sight equation parameters are calculated by using the satellite observation line-of-sight parameter equation and the parameter equations of the various space geometric surfaces, the value conditions of the various line-of-sight equation parameters are classified, and a preliminary shielding condition is judged; according to the boundary constraints of the target geometric surface and the preliminary shielding condition, shielding effectiveness of intersection points of the line-of-sight and the space geometric surface is judged, and geometric shielding effectiveness analysis of the target body is completed. The application provides an analytical and intuitive processing flow of a shielding algorithm for the shielding effect in a three-dimensional space, and effectively solves the shielding problem in imaging observation of a complex combined structure.

Description

Technical Field

[0001] This invention belongs to the field of aerospace technology and relates to a method for designing a space station companion satellite orbit that takes into account the blocking effect. Background Technology

[0002] Health checks and safety precautions for the space station have become an important and urgent research area for current space station servicing. Using companion satellites to fly around the space station and observe its operational status and surface damage in real time has become a hot topic in space technology research. The fly-around movements of companion satellites can provide effective detection methods for precise on-orbit monitoring, global inspections, and reliability assessments of the space station, and have significant application value for real-time monitoring and maintenance.

[0003] For spacecraft such as accompanying satellites to achieve on-orbit operation, the support of a sensing system is indispensable. For currently used space robots, visual cameras are a relatively mature sensor used for remote visual monitoring, cooperative and non-cooperative target recognition and measurement. However, three-dimensional visual perception technology still faces the problem of three-dimensional spatial occlusion. Studying the occlusion problem in spatial geometry has become a necessary technical challenge and difficulty to overcome in the imaging and observation technology of accompanying satellite visual cameras. Summary of the Invention

[0004] The purpose of this invention is to solve the problems in the prior art and provide a design method for the orbit of a space station companion satellite that takes into account the occlusion effect, effectively solving the occlusion problem in imaging observation of complex combined structures.

[0005] To achieve the above objectives, the present invention employs the following technical solution:

[0006] A method for designing a space station companion satellite orbit considering the obstruction effect includes the following steps:

[0007] The target body is geometrized, and the parametric equations of each spatial geometric surface and the boundary constraints of the target geometric surface are calculated.

[0008] Based on the location of the point to be observed and the location of the satellite's orbit, construct the satellite observation line-of-sight parameter equations;

[0009] The parameters of each line of sight equation are calculated using the satellite observation line of sight parameter equation and the parameter equation of each spatial geometric surface. The values ​​of each line of sight equation parameter are classified and the initial occlusion situation is determined.

[0010] Based on the boundary constraints of the target's geometric surface and the initial occlusion situation, the occlusion effectiveness of the intersection point between the line of sight and the spatial geometric surface is judged, thus completing the geometric occlusion effectiveness analysis of the target body.

[0011] Furthermore, the spatial geometric surfaces include spatial planes, spatial cylinders, and spatial spheres.

[0012] Furthermore, the target body has i target geometric surfaces, which are defined by the general parametric equations f of the spatial geometric surfaces where each surface is located. i (x,y,z), the parametric equations of each spatial geometric surface are calculated as follows:

[0013] The general expression for a spatial plane is ax + by + cz + d = 0, and its parametric equation is:

[0014]

[0015] Where s and t are parameters.

[0016] The general expression for a spatial cylinder is: (xa) 2 +(yb) 2 +(zc) 2 =r 2 Its parametric equation is:

[0017]

[0018] Where α, β, and γ are parameters.

[0019] The general expression for a spatial sphere is:

[0020]

[0021] Its parametric equation is:

[0022]

[0023] in, θ is a parameter.

[0024] Furthermore, the boundary constraints of the target geometric surface are as follows:

[0025] x s ∈[x smin ,x smax ]

[0026] y s ∈[y smin ,y smax ]

[0027] z s ∈[z smin ,z smax ].

[0028] Furthermore, the calculation process for the satellite's orbital position is as follows:

[0029] When the space station is in a circular orbit and the inter-satellite distance is small, the parameterized analytical solution of the CW equation is obtained:

[0030]

[0031] Where τ = nt, n is the orbital angular velocity of the space station around the Earth, and the expressions for each parameter are as follows:

[0032]

[0033]

[0034]

[0035]

[0036]

[0037]

[0038] The necessary condition for drift-free flight is That is, if p = 0, then the parameterized analytical solution of the CW equation is expressed as:

[0039]

[0040] when The above equation is an expression for a closed ellipse in space, with its center located at (0, q, 0). This equation also indicates that the relative motion orbit based on the CW equation is a periodic relative motion orbit. According to the actual requirements of the accompanying satellite orbiting the space station, the orbiting center of the accompanying satellite must be located at the center of mass of the space station, which means q = 0. Therefore, the orbital equation of the accompanying satellite is as follows:

[0041]

[0042] The necessary and sufficient condition for the satellite to enter a closed orbit is: get:

[0043]

[0044] When x0≠0, the above expression satisfies:

[0045]

[0046] In the formula, k∈(-∞,+∞) is the correlation coefficient, then:

[0047] B = k·A

[0048] The orbital equations for the accompanying satellite with respect to the correlation coefficient k and orbital amplitude A are obtained as follows:

[0049]

[0050] Furthermore, the equation for the satellite observation line-of-sight parameter is as follows:

[0051]

[0052] Where u∈(0,1) are the parameters of the line-of-sight equation.

[0053] Furthermore, the calculation process for each line-of-sight equation parameter is as follows: For a given target body spatial geometric model, determine the spatial geometric surface where the geometric body is located based on the target spatial surface, substitute the parameter equations of different spatial geometric surfaces into the equations of different spatial geometric surfaces, and then solve the line-of-sight equation parameter u by combining it with the satellite observation line-of-sight parameter equation.

[0054] Furthermore, the process of classifying the values ​​of each line-of-sight equation parameter and determining the initial occlusion situation is as follows:

[0055] When the parameter u of the line-of-sight equation has no solution, it indicates that there is no intersection between the satellite line of sight and the associated spatial geometric surface, that is, there is no occlusion effect between the line of sight and the target geometric surface that determines the spatial geometric surface.

[0056] When the parameter u of the line of sight equation has a solution, but u∈(-∞,0]∪[1,+∞), it means that the line of sight and the associated spatial geometric surface have an intersection point, but the intersection point is not within the range of the satellite line of sight direction, that is, there is no occlusion effect between the line of sight and the target geometric surface that determines the spatial geometric surface.

[0057] When the parameter u of the line-of-sight equation has a solution and u∈(0,1), it indicates that there is an intersection with the spatial geometric surface within the range of the satellite's line-of-sight direction. At this time, it is necessary to further determine whether there is an intersection with the corresponding target geometric surface.

[0058] Furthermore, the process of determining the effectiveness of occlusion at the intersection of the line of sight and the spatial geometric surface is as follows:

[0059] Substituting the line-of-sight equation parameter u into the satellite observation line-of-sight parameter equation, the coordinates of the intersection point are obtained. If the coordinates of the intersection point do not satisfy the boundary constraints of the corresponding target geometric surface, it indicates that the satellite line of sight intersects with the connected spatial geometric surface, but does not intersect with the target geometric surface that determines the spatial geometric surface, that is, there is no occlusion effect.

[0060] When the coordinates of the intersection point satisfy the boundary constraints of the corresponding target geometric surface, it indicates that the satellite line of sight intersects with the connected spatial geometric surface and also intersects with the target geometric surface that determines the spatial geometric surface. That is, there is an occlusion effect between the satellite line of sight and the target geometric surface during the observation of the target point.

[0061] Compared with the prior art, the present invention has the following beneficial effects:

[0062] This invention provides a method for designing the orbit of a space station companion satellite considering occlusion effects. First, the target body is geometrically processed, and the parametric equations of the spatial geometric plane containing the target's geometric surface and the boundary constraints of the target's geometric surface are solved. Then, by simultaneously solving the coordinates of the observed point and the satellite's orbital position coordinates, the satellite's line-of-sight parametric equations are constructed. Finally, the parameter values ​​are solved by simultaneously solving the satellite's line-of-sight parametric equations and the spatial geometric surface parametric equations. The occlusion effectiveness of the intersection points is analyzed and judged based on the parameter values ​​and the position coordinates of the intersection points, thus completing the geometric occlusion effectiveness analysis of the target body. This invention, based on the orbital parameter description method using the correlation coefficient k and orbital amplitude A, proposes an occlusion algorithm that involves spatial geometric processing of the geometric body and judging occlusion effectiveness through the simultaneous solution of parametric equations. It provides an analytical and intuitive processing flow for occlusion effects in three-dimensional space, effectively providing models, methods, and basic design ideas for occlusion problems in imaging observations of complex composite structures. Attached Figure Description

[0063] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0064] Figure 1 This is a flowchart of the design method of the present invention.

[0065] Figure 2 This is a schematic diagram of a single-satellite orbit for a space station according to the present invention.

[0066] Figure 3 This is a schematic diagram of the spatial geometric occlusion effect of the present invention.

[0067] Figure 4 This is a schematic diagram showing the positional relationship between the geometric body and the spatial geometric surface of the present invention.

[0068] Figure 5 This is a schematic diagram illustrating one of the occlusion effectiveness determination scenarios of the present invention.

[0069] Figure 6 This is a schematic diagram of the second scenario for determining the effectiveness of occlusion according to the present invention.

[0070] Figure 7 This is a schematic diagram of the third scenario for determining the effectiveness of occlusion according to the present invention.

[0071] Figure 8This is a simplified model diagram of the space station of the present invention.

[0072] Figure 9 This is a schematic diagram illustrating the variation of the implementation parameter u of the present invention with the position coordinate parameter t of the orbital flight path.

[0073] Figure 10 The feature point of this invention is S 01 The obstruction of the orbital path when = (0,5,1).

[0074] Figure 11 The feature point of this invention is S 02 The obstruction of the orbital path when = (1,7,3). Detailed Implementation

[0075] The following description, in conjunction with the accompanying drawings, illustrates exemplary embodiments of this application, including various details to aid understanding. These should be considered merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of this application. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.

[0076] Obviously, the described embodiments are only some, not all, of the embodiments in this application. All other embodiments obtained by those skilled in the art based on the embodiments in this application without inventive effort are within the scope of protection of this application.

[0077] It should be noted that the terminals involved in the embodiments of this application may include, but are not limited to, mobile phones, personal digital assistants (PDAs), wireless handheld devices, tablet computers, personal computers (PCs), MP3 players, MP4 players, wearable devices (e.g., smart glasses, smartwatches, smart bracelets), smart home devices, and other smart devices.

[0078] Furthermore, the term "and / or" in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0079] The present invention will now be described in further detail with reference to the accompanying drawings:

[0080] like Figure 2As shown, the microsatellite orbits the space station, with its camera always facing the station, creating a nadir trajectory on the satellite's surface. The imaging range is determined by the satellite's orbital altitude, the maximum imaging angle of the camera, and its orbital plane position. If there are tiny components on the space station's surface that need to be observed, they are denoted as feature points S.

[0081] See Figure 1 This invention provides a method for designing a space station companion satellite orbit considering the obstruction effect, comprising the following steps:

[0082] S1: The target body has i target geometric surfaces. Determine the spatial geometric surface on which each surface lies. The spatial geometric surface includes a spatial plane, a spatial cylinder, and a spatial sphere. The general parametric equation f of the spatial geometric surface is used to define this. i (x,y,z), calculate the parametric equations of each spatial geometric surface, and obtain the boundary constraints of the target geometric surface through the model:

[0083] x s ∈[x smin ,x smax ]

[0084] y s ∈[y smin ,y smax ]

[0085] z s ∈[z smin ,z smax ]

[0086] like Figure 4 As shown, based on the positional relationship between the geometric solid and the spatial geometric surface, the specific steps of S1 are as follows:

[0087] The general expression for a spatial plane is ax + by + cz + d = 0, and its parametric equation is:

[0088]

[0089] Where s and t are parameters.

[0090] The general expression for a spatial cylinder is: (xa) 2 +(yb) 2 +(zc) 2 =r 2 Its parametric equation is:

[0091]

[0092] Where α, β, and γ are parameters.

[0093] The general expression for a spatial sphere is:

[0094]

[0095] Its parametric equation is:

[0096]

[0097] in, θ is a parameter.

[0098] S2: Combine the coordinates of the observation point (x0, y0, z0) and the satellite's orbital coordinates (x0, y0, z0). t ,y t ,z t Construct the line segment parametric equations, i.e., the satellite observation line-of-sight parametric equations.

[0099] When the space station is in a circular orbit and the inter-satellite distance is small, the parameterized analytical solution of the CW equation can be obtained:

[0100]

[0101] Where τ = nt, n is the orbital angular velocity of the space station around the Earth, and the expressions for each parameter are as follows:

[0102]

[0103]

[0104]

[0105]

[0106]

[0107]

[0108] The above analysis shows that the necessary condition for drift-free flight is That is, p = 0 is required. Therefore, the parameterized analytical solution of the CW equation can be expressed as:

[0109]

[0110] Research found that when The above equation represents a closed ellipse with its center at (0, q, 0), indicating that the relative motion orbit based on the CW equation is a periodic orbit. According to the actual requirements for the companion satellite orbiting the space station, the orbiting center of the companion satellite must be located at the center of mass of the space station, which means q = 0. Therefore, the orbital equation for the companion satellite is as follows:

[0111]

[0112] The necessary and sufficient condition for the satellite to enter a closed orbit is: available:

[0113]

[0114] When x0≠0, the above expression satisfies:

[0115]

[0116] In the formula, k∈(-∞,+∞) is the correlation coefficient, then:

[0117] B = k·A

[0118] Then we can obtain the orbital equations of the accompanying satellite with respect to the correlation coefficient k and the orbital amplitude A:

[0119]

[0120] The satellite observation line-of-sight equation can be constructed by simultaneously solving the coordinates of the point to be observed and the coordinates of the satellite's orbital position, thus establishing a parametric equation for the line segment:

[0121]

[0122] Where u∈(0,1) is the parameter.

[0123] S3: Sequentially establish the satellite observation line-of-sight parameter equations and the parametric equations f of each spatial geometric surface i (x,y,z), and solve for the line-of-sight equation parameter u. i .

[0124] like Figure 3 As shown, when the satellite camera observes the target observation point located on the surface of the spatial geometry S2, it is blocked by the spatial geometry surface S1 in the line of sight, thus creating an actual observation point on the surface. This situation constitutes the spatial geometry occlusion effect.

[0125] For a given target body spatial geometric model, we can determine the spatial geometric surface where the geometric body is located based on the target spatial surface, substitute the spatial geometric surface parameter equations according to different categories, and then solve them together with the satellite observation line of sight equation to solve for the parameter u.

[0126] S4: Based on the occlusion effectiveness judgment, the parameters u of each line-of-sight equation are... i The values ​​are classified and the initial occlusion situation is determined.

[0127] By classifying and discussing the solutions to the parameter u in the satellite observation line-of-sight equation, we can obtain the following:

[0128] a. When the obtained parameter u has no solution, it indicates that there is no intersection between the satellite camera's line of sight and the associated spatial geometric surface, that is, there is no occlusion effect between the line of sight and the target geometric surface that determines the spatial geometric surface.

[0129] like Figure 5 As shown, the line of sight is separate from the spatial geometric surface and there is no intersection.

[0130] b. When the parameter u obtained by the solution has a solution, but u∈(-∞,0]∪[1,+∞), it means that there is an intersection between the line of sight and the spatial geometric surface, but the intersection is not within the range of the satellite camera's line of sight, that is, there is no occlusion effect between the line of sight and the target geometric surface that determines the spatial geometric surface.

[0131] like Figure 6 As shown, the line of sight intersects with the spatial geometric surface, but only exists outside the observable range of the line of sight.

[0132] c. When the parameter u obtained by the solution has a solution and u∈(0,1), it means that there is an intersection point with the spatial geometric surface within the line of sight of the satellite camera. At this time, it is necessary to further determine whether there is an intersection point with the corresponding target geometric surface.

[0133] S5: When u i When u ∈ (0,1), i Substitute into the satellite observation line-of-sight parameter equation This allows us to obtain the coordinates (x, y) of the intersection point between the line of sight and the spatial geometric surface. p ,y p ,z p ).

[0134] S6: Based on the boundary constraints of the target geometric surface, further determine the intersection point (x p ,y p ,z p Does it satisfy the boundary constraints of the target geometric surface?

[0135] x p ∈[x smin ,x smax ]

[0136] y p ∈[y smin ,y smax ]

[0137] z p ∈[z smin ,z smax ]

[0138] When the coordinates of the intersection point do not satisfy the boundary constraints of the corresponding target geometry, it indicates that the satellite camera's line of sight intersects with the associated spatial geometry, but does not intersect with the target geometry that determines that spatial geometry, meaning there is no occlusion effect. For example... Figure 7 As shown, the line of sight intersects with the spatial geometric surface, but does not intersect with the geometric body.

[0139] When the coordinates of the intersection point satisfy the boundary constraints of the corresponding target geometric surface, it indicates that the satellite camera's line of sight intersects with the connected spatial geometric surface and also intersects with the target geometric surface that determines the spatial geometric surface. That is, during the observation of the target point, there is an occlusion effect between the satellite camera's line of sight and the target geometric surface.

[0140] The calculation process of the present invention is illustrated below through specific embodiments:

[0141] Example 1:

[0142] Assume the space station is orbiting the Earth in a circular orbit at an altitude of 380 km, and assume that the space station's attitude remains constant during its flight with its accompanying satellite. Figure 4 As shown, the space station consists of two cylinders and five solar panels. Cylinder 1 is divided into two sections, 10 meters and 6 meters wide, and cylinder 2 is divided into two equal sections, 8 meters and 8 meters wide. The solar panels are symmetrically installed, and their thickness is negligible. The center of SP1 is 2 meters from point O. SP2 and SP3 are located at opposite ends of cylinder 1, 9 meters and 5 meters from point O, respectively. SP4 and SP5 are located at opposite ends of cylinder 2, 7 meters and 7 meters from point O, respectively.

[0143] Based on the space station model, the space station model is simplified to a combination of columns and rectangular thin plates, and their positional relationships are as follows: Figure 8 As shown. The accompanying satellite performs a circular orbit in space and selects the orbital parameters. A = 20. The coordinates of the observation point (1, 0, 1) are selected based on the simplified model of the space station.

[0144] The spatial geometric plane parametric equations of the space station surface can then be obtained as follows:

[0145]

[0146] In the formula, R∈(-∞,∞) and θ∈[0,2π).

[0147] The accompanying satellite's line-of-sight parameter equation is:

[0148]

[0149] By simultaneously solving the spatial geometric plane equations and the satellite's orbital line-of-sight equations, we can obtain the solution equations for the parameter u:

[0150]

[0151] Where θ∈[0,2π).

[0152] The variation of parameter u within one orbital period is obtained through software simulation, such as... Figure 9 As shown.

[0153] When parameter u∈(0,1), the range of the orbital position coordinate parameter t within one period is shown in the table below:

[0154] Table 1. Range of orbital position coordinate parameters within one cycle.

[0155]

[0156] Further substituting the parameters u and t within the aforementioned region into the parametric equations for the accompanying satellite's flight path, the intersection coordinates are solved. Taking the parameter t = π and its corresponding parameter u = 0.268 in space plane 4 as an example, the calculated intersection coordinates are (-4.351, 0, -8). Since the geometric surface boundary constraints on space geometric plane 4 are x... 2 +y 2 ≤1, it is easy to see that the coordinates of the intersection point do not satisfy the boundary constraints, therefore the coordinates of the orbital position on the spatial circular orbital are When observing the point to be observed, there is no obstruction between it and the geometric surface on the spatial geometric plane 4.

[0157] Simulation verification based on the above implementation process yields feature points S. 01 = (0,5,1) and S 02 The obstruction of the orbital path when the distance is (1,7,3) is as follows: Figure 10 and Figure 11 As shown, it can be observed that when a satellite performs a flyby observation of a specific feature point on the surface of the space station, there will always be a short arc orbital region. In the line-of-sight direction of this region, there are other intersections with the surface of the space station (a large, complex space geometry target) that are not the target observation point, thus producing an occlusion effect. Therefore, this invention can visualize and mathematically represent the occlusion effect for any orbit and any observation point, providing a good model and theoretical foundation for the subsequent accurate calculation and prediction of the occlusion area.

[0158] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for designing a space station companion satellite orbit considering the occlusion effect, characterized in that, Includes the following steps: The target body is geometrized, and the parametric equations of each spatial geometric surface and the boundary constraints of the target geometric surface are calculated. Based on the location of the point to be observed and the location of the satellite's orbit, construct the satellite observation line-of-sight parameter equations; The parameters of each line of sight equation are calculated using the satellite observation line of sight parameter equation and the parameter equation of each spatial geometric surface. The values ​​of each line of sight equation parameter are classified and the initial occlusion situation is determined. Based on the boundary constraints of the target's geometric surface and the initial occlusion situation, the occlusion effectiveness of the intersection of the line of sight and the spatial geometric surface is judged, and the geometric occlusion effectiveness analysis of the target body is completed. The calculation process for the satellite's orbital position is as follows: When the space station is in a circular orbit and the inter-satellite distance is small, the parameterized analytical solution of the CW equation is obtained: in, , Let be the orbital angular velocity of the space station around the Earth, and the expressions for each parameter are as follows: The necessary condition for drift-free flight is That is, requirements Then the parameterized analytical solution of the CW equation is expressed as: when The above equation is an expression for a closed ellipse in space, with the center of the ellipse located at... Furthermore, the above equation shows that the relative motion orbit based on the CW equation is a periodic relative motion orbit. According to the actual requirements of the accompanying satellite orbiting the space station, the orbiting center of the accompanying satellite must be located at the center of mass of the space station, which means that... The orbital equation of the accompanying satellite is as follows: The necessary and sufficient condition for the satellite to enter a closed orbit is: ,get: when When, the above equation satisfies: In the formula, Let be the correlation coefficient, then: Obtain the correlation coefficient and orbital amplitude The orbital equation of the accompanying satellite is: ； The equation for the satellite observation line-of-sight parameter is as follows: in, These are the parameters of the line-of-sight equation.

2. The method for designing a space station companion satellite orbit considering the occlusion effect according to claim 1, characterized in that, The spatial geometric surfaces include spatial planes, spatial cylinders, and spatial spheres.

3. The method for designing a space station companion satellite orbit considering the occlusion effect according to claim 1, characterized in that, The target entity exists Given a target geometric surface, the general parametric equations of the spatial geometric surfaces on which each surface lies are used. The parametric equations for each spatial geometric surface are calculated as follows: The general expression for a spatial plane is: Its parametric equation is: in, and For parameters; The parametric equations for a spatial cylinder are: in, , and For parameters; The general expression for a spatial sphere is: Its parametric equation is: in, and For parameters.

4. The method for designing a space station companion satellite orbit considering the shading effect according to claim 1, characterized in that, The boundary constraints of the target geometric surface are as follows: 。 5. The method for designing a space station companion satellite orbit considering the occlusion effect according to claim 1, characterized in that, The calculation process for each line-of-sight equation parameter is as follows: For a given target body spatial geometric model, determine the spatial geometric surface where the geometry is located based on the target spatial surface; substitute the parameter equations of different spatial geometric surfaces into the equations of different spatial geometric surfaces; then solve the line-of-sight equation parameters simultaneously with the satellite observation line-of-sight parameter equations. .

6. The method for designing a space station companion satellite orbit considering the shading effect according to claim 1, characterized in that, The process of classifying the values ​​of each line-of-sight equation parameter and determining the initial occlusion status is as follows: When the parameters of the line-of-sight equation are obtained by solving When there is no solution, it indicates that there is no intersection between the satellite line of sight and the associated spatial geometric surface, that is, there is no occlusion effect between the line of sight and the target geometric surface that determines the spatial geometric surface; When the parameters of the line-of-sight equation are obtained by solving There is a solution, but When the line of sight intersects with the associated spatial geometric surface, but the intersection point is not within the range of the satellite's line of sight, that is, there is no occlusion effect between the line of sight and the target geometric surface that determines the spatial geometric surface; When the parameters of the line-of-sight equation are obtained by solving There is a solution, and If this occurs, it indicates that there is an intersection with the spatial geometric surface within the satellite's line of sight. In this case, it is necessary to further determine whether there is an intersection with the corresponding target geometric surface.

7. The method for designing a space station companion satellite orbit considering the shading effect according to claim 1, characterized in that, The process of determining the effectiveness of occlusion at the intersection of the line of sight and the spatial geometric surface is as follows: Line of sight equation parameters Substituting the satellite observation line of sight parameter equation, the coordinates of the intersection point are obtained. If the coordinates of the intersection point do not satisfy the boundary constraints of the corresponding target geometric surface, it indicates that the satellite line of sight intersects with the connected spatial geometric surface, but does not intersect with the target geometric surface that determines the spatial geometric surface, that is, there is no occlusion effect. When the coordinates of the intersection point satisfy the boundary constraints of the corresponding target geometric surface, it indicates that the satellite line of sight intersects with the connected spatial geometric surface and also intersects with the target geometric surface that determines the spatial geometric surface. That is, there is an occlusion effect between the satellite line of sight and the target geometric surface during the observation of the target point.

Images