A maneuvering method and device for quickly establishing a relay link after a satellite enters orbit

Abstract

The present invention relates to the field of satellite engineering technology, and in particular to a maneuvering method and device for quickly establishing a relay link after a satellite enters orbit. The method includes: when the satellite-rocket separation stage is in the earth's shadow area and it is detected that the relay terminal antenna range of the satellite's orbital attitude cannot cover the relay satellite, the satellite's pitch rotation angle is calculated when the sun enters the field of view of the solar sensor and exits the field of view of the solar sensor during the satellite's pitch rotation to search the sun; the maximum angle of the satellite's pitch rotation from the separation of the satellite and the rocket to the start of the solar search is estimated; the rotatable angle of the satellite in the pitch search phase is calculated based on the pitch rotation angle, the maximum angle and the reserved maneuvering margin; the satellite's pitch search time and rate damping time are calculated based on the rotatable angle of the satellite in the pitch search phase, so as to use the pitch search time and rate damping time to establish a relay link between the satellite and the relay satellite. This scheme is capable of rapid maneuvering attitude adjustment and establishing a relay link with the relay satellite.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of satellite engineering technology, and in particular to a maneuvering method and device for quickly establishing a relay link after a satellite enters orbit. Background Art

[0002] At present, the launch and flight control process of high-orbit communication satellites needs to go through multiple ground-based tracking and control areas such as domestic ground stations, Yuanwang ships and South American tracking and control stations to support ground monitoring or operation of satellites. However, in the face of complex and changing international situations, the establishment and use of tracking and control stations in South America are extremely uncertain, which will cause great interference to the launch of satellites into orbit, thereby affecting the reliability of successful satellite launches. Therefore, it is considered to carry relay tracking and control terminals on high-orbit communication satellites, replace the South American tracking and control segment through relay satellites and ground communications, so as to realize ground-based and space-based tracking and control to support ground monitoring or operations.

[0003] The use of relay tracking and control requires verification and use of the relay tracking and control link in the first circle after the separation of the satellite and rocket. The factors that determine the relay tracking in the separation phase include the orbital position of the relay satellite, the tracking and control range of the relay antenna, the satellite's own attitude, and the pointing range of the relay terminal antenna. Within the established tracking and control range of the relay satellite and its antenna, the performance of the relay terminal antenna itself is determined, and the satellite's own attitude is the determining factor of the pointing range of the relay terminal antenna. Therefore, it is considered to establish the relay tracking and control link by adjusting the satellite's own attitude.

[0004] In the related technology, without affecting the entire satellite-rocket separation process, the only available sensor affected by the earth's shadow is the gyroscope. Generally, the pitch search start time is advanced to perform rapid maneuvers to establish a relay measurement and control link. However, the pitch search process cannot take into account the solar search situation. Too much pitch search in advance may cause the satellite to fail to search for the sun after leaving the earth's shadow or greatly extend the search time.

[0005] Therefore, based on the above problems, there is an urgent need to provide a mobile method and device for quickly establishing a relay link after the satellite enters orbit. Summary of the invention

[0006] In order to solve the problem in the related art that during the process of satellite-rocket separation and satellite entering orbit, the satellite's pitch search time is too long and it is difficult to quickly establish a relay link with the relay satellite, an embodiment of the present invention provides a mobile method and device for quickly establishing a relay link after the satellite enters orbit.

[0007] In a first aspect, an embodiment of the present invention provides a maneuvering method for quickly establishing a relay link after a satellite enters orbit, the method comprising:

[0008] When the satellite-rocket separation stage is in the earth's shadow and the relay terminal antenna range cannot cover the relay satellite when the satellite is detected to be in orbit, the satellite's pitch rotation angle is calculated when the sun enters the field of view of the sun sensor and exits the field of view of the sun sensor during the satellite's pitch rotation process for solar search;

[0009] Estimate the maximum angle of the satellite's pitch rotation from rocket-satellite separation to the start of solar search;

[0010] Calculating a rotatable angle of the satellite in a pitch search phase according to the pitch rotation angle, the maximum angle and a reserved maneuver margin; wherein the rotatable angle is greater than 0;

[0011] The pitch search time and rate damping time of the satellite are calculated according to the rotatable angle of the satellite in the pitch search phase, so as to establish a relay link between the satellite and the relay satellite by using the pitch search time and the rate damping time.

[0012] In a second aspect, an embodiment of the present invention further provides a mobile device for quickly establishing a relay link after a satellite enters orbit, the device comprising:

[0013] The first calculation unit is used to calculate the satellite's pitch rotation angle when the sun enters the field of view of the sun sensor and exits the field of view of the sun sensor during the process of the satellite searching for the sun through pitch rotation, when the satellite-rocket separation stage is in the earth's shadow area and the relay terminal antenna range detected by the satellite entering orbit attitude cannot cover the relay satellite;

[0014] An estimation unit, used to estimate the maximum angle of the satellite pitch rotation from the separation of the rocket and the start of the solar search;

[0015] A second calculation unit is used to calculate a rotatable angle of the satellite in a pitch search phase according to the pitch rotation angle, the maximum angle and a reserved maneuvering margin; the rotatable angle is greater than 0;

[0016] The third calculation unit is used to calculate the satellite's pitch search time and rate damping time according to the rotatable angle of the satellite in the pitch search phase, so as to establish a relay link between the satellite and the relay satellite using the pitch search time and the rate damping time.

[0017] In a third aspect, an embodiment of the present invention further provides a computing device, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the method described in any embodiment of this specification is implemented.

[0018] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed in a computer, the computer is caused to execute the method described in any embodiment of this specification.

[0019] The embodiment of the present invention provides a maneuvering method and device for quickly establishing a relay link after a satellite enters orbit. First, the rotatable angle of the satellite in the pitch search phase is calculated through the pitch rotation angle of the satellite performing solar search, the maximum angle of the satellite's pitch rotation from satellite-rocket separation to the start of solar search, and the reserved maneuvering margin. Then, the satellite's pitch search time and rate damping time are calculated based on the rotatable angle to quickly establish a relay link between the satellite and the relay satellite. This scheme improves the reliability of satellite measurement and control by collaboratively planning solar search and satellite pitch search, and only using gyro sensor information to perform rapid maneuvering attitude adjustment and establish a relay link without changing the programmed events. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 It is a flow chart of a maneuvering method for quickly establishing a relay link after a satellite enters orbit, provided by one embodiment of the present invention;

[0022] Figure 2 is a schematic diagram of the relative relationship between the field of view of a sun sensor and the sun's position provided by an embodiment of the present invention;

[0023] Figure 3 is a hardware architecture diagram of a computing device provided by an embodiment of the present invention;

[0024] Figure 4 This is a structural diagram of a mobile device for quickly establishing a relay link after a satellite enters orbit, provided by one embodiment of the present invention. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0026] The specific implementation of the above concept is described below.

[0027] Please refer to Figure 1 The embodiment of the present invention provides a maneuvering method for quickly establishing a relay link after a satellite enters orbit, the method comprising:

[0028] Step 100, when the satellite-rocket separation stage is in the earth's shadow area and it is detected that the satellite orbit attitude relay terminal antenna range cannot cover the relay satellite, the satellite pitch rotation angle is calculated when the sun enters the field of view of the sun sensor and exits the field of view of the sun sensor during the satellite's pitch rotation for sun search;

[0029] Step 102, estimating the maximum angle of the satellite's pitch rotation from the separation of the rocket and the start of the solar search;

[0030] Step 104, calculating the rotatable angle of the satellite in the pitch search phase according to the pitch rotation angle, the maximum angle and the reserved maneuver margin; the rotatable angle is greater than 0;

[0031] Step 106, calculating the satellite's pitch search time and rate damping time according to the rotatable angle of the satellite during the pitch search phase, so as to establish a relay link between the satellite and the relay satellite using the pitch search time and the rate damping time.

[0032] In an embodiment of the present invention, the rotatable angle of the satellite in the pitch search phase is first calculated through the pitch rotation angle of the satellite performing solar search, the maximum angle of the satellite's pitch rotation from satellite-rocket separation to the start of solar search, and the reserved maneuvering margin. Then, the satellite's pitch search time and rate damping time are calculated based on the rotatable angle to quickly establish a relay link between the satellite and the relay satellite. This scheme improves the reliability of satellite measurement and control by collaboratively planning solar search and satellite pitch search, and by only using gyro sensor information to perform rapid maneuvering attitude adjustment and establish a relay link without changing the programmed events.

[0033] For step 100:

[0034] In an embodiment of the present invention, in view of the fact that the current high-orbit communication satellite rocket separation process has high reliability and has become mature, adding relay measurement and control communication to the existing process should minimize changes in the entire rocket separation process; when the satellite rocket separation stage is in the earth's shadow and only the gyro sensor information is available, and the gyro sensor detects that the satellite enters orbit with the current attitude, if the relay terminal antenna range can cover the relay satellite, then the satellite will quickly establish a relay measurement and control link with the relay satellite after entering orbit; if the relay terminal antenna range cannot cover the relay satellite, then it is necessary to perform rapid maneuvering and attitude adjustment after entering orbit to quickly establish a relay measurement and control link with the relay satellite.

[0035] In some embodiments, the pitch rotation angle is less than 360 degrees.

[0036] In this embodiment, after the satellite rocket is separated, the satellite first searches for the sun through rate damping and pitch rotation search (rotating around the satellite Y axis at a negative angular velocity). On the premise of ensuring that the pitch rotation search finds the sun as soon as possible, the satellite's pitch rotation angle, that is, the maximum pitch rotation angle, is calculated based on the field of view of the solar sensor, the relative relationship between the solar vector and the satellite's own system and the satellite's own system.

[0037] In this embodiment, the pitch rotation angle of the satellite should not be too large, preferably less than 360 degrees, so that it is conducive to searching the sun as soon as possible, and then it is conducive to quickly establishing a relay link with the relay satellite; Figure 2 Describe in detail how to calculate the satellite's pitch rotation angle. Figure 2 In the figure, the X-axis and Z-axis represent the roll axis and yaw axis of the satellite respectively, and SUN represents the projection of the sun vector on the XOZ plane. Assuming that the field of view of the sun sensor is 120°, the angle between the sun vector and the X-axis is 50°. After the separation of the satellite and the rocket, the satellite pitches and rotates around the Y-axis at a negative angular velocity from the orbital attitude to search for the sun, as shown in Figure 2 As shown in , in order to ensure that the sun is searched as quickly as possible (i.e., the sun enters the field of view of the sun sensor at the fastest speed), the sun needs to rotate counterclockwise. When the sun enters the field of view of the sun sensor and exits the field of view of the sun sensor, the satellite's pitch rotation angle θ m =30°+50°+120°=200°.

[0038] Regarding step 102:

[0039] In some implementations, the maximum angle of satellite pitch rotation is calculated using the following formula:

[0040] Θ1=v0t s

[0041] Where v0 is the angular velocity of the rocket-satellite separation, t s The time from rocket-satellite separation to the start of the solar search.

[0042] In this embodiment, the worst working conditions after satellite-rocket separation are considered, and the maximum angle of the satellite's pitch rotation from satellite-rocket separation to the start of solar search is estimated. That is, the satellite rotates at a larger satellite-rocket separation angular velocity until the maximum angle of the satellite's pitch rotation enters the start stage of solar search. This helps to ensure the reliability of the start time of the satellite pitch search.

[0043] For example, the satellite rotates at a large satellite-rocket separation angular velocity v0 = 0.3° / s, and the time t from satellite-rocket separation to the start of solar search is measured by the system. s=70s, then under the worst working conditions, the maximum pitch rotation angle of the satellite from the separation of the rocket to the start of the solar search is estimated to be θ1 = v0t s =0.3×70=21°.

[0044] Regarding step 104:

[0045] In some embodiments, the pitch rotation angle is subtracted from the maximum angle and the reserved maneuvering margin to calculate an initial angle; a determination is made as to whether the initial angle is greater than 0, and if so, the initial angle is determined as the rotatable angle in the satellite pitch search phase; if not, the reserved maneuvering margin is reduced, and the initial angle calculation step and the judgment step are re-executed using the reduced reserved maneuvering margin.

[0046] In this embodiment, in order to further ensure the accuracy of the actual start time of the satellite pitch search so that the time to establish the relay link will not be too early or too late, in this embodiment, first consider reserving sufficient maneuvering margin during the maneuvering process, and then subtract the maximum angle of the satellite pitch rotation and the reserved maneuvering margin from the calculated pitch rotation angle to calculate the rotatable angle of the satellite pitch search phase, and ensure that the rotatable angle is greater than 0 by adjusting the size of the reserved maneuvering margin.

[0047] For example, consider that sufficient margin Θ0 = 20° is reserved for the maneuvering process, and the satellite pitch search rotation angle Θ m is 200°, the maximum angle θ1 of the satellite pitch rotation is 21°, then the initial angle θ is θ=θ m -Θ1-Θ0=200-21-20=159°. At this time, it is judged that the initial angle Θ is 159°, which is much larger than 0. Therefore, the angle that the satellite can rotate during the pitch search phase is 159°.

[0048] It should be noted that in this embodiment, only my country's satellite launches are considered, so the satellite's pitch rotation angle is generally greater than the maximum pitch rotation angle. At the same time, in this embodiment, there is no special requirement for the size of the reserved maneuvering margin, which is generally smaller than the difference between the satellite's pitch rotation angle and the maximum pitch rotation angle. However, the extreme case where the reserved maneuvering margin is small is not considered.

[0049] Regarding step 106:

[0050] Obtain the angular velocity of the satellite pitch search, the time when the satellite leaves the Earth's shadow, and the time from the separation of the satellite and the rocket to the start of the solar search;

[0051] Calculating the satellite's pitch search time according to the rotatable angle of the satellite during the pitch search phase and the angular velocity of the satellite's pitch search;

[0052] The satellite's rate damping time is calculated based on the time it takes for the satellite to leave the Earth's shadow, the satellite's pitch search time, and the time from satellite-rocket separation to the start of solar search.

[0053] In this embodiment, the satellite's pitch search time is first calculated using the pitch search angle pre-set on the satellite gyroscope and the rotatable angle of the satellite's pitch search phase calculated in step 104. The satellite's rate damping time is then calculated using the satellite's pitch search time, the time when the satellite leaves the earth's shadow, and the time from satellite-rocket separation to the start of solar search. Finally, a rate damping time threshold is set on the satellite. When the satellite's rate damping time exceeds the threshold, the satellite starts pitch search and attitude adjustment in advance, thereby quickly establishing a relay link with the relay satellite.

[0054] In some implementations, the satellite pitch search time is calculated using the following formula:

[0055] t p =Θ / v1

[0056] In the formula, t p is the satellite’s pitch search time, Θ is the rotatable angle of the satellite during the pitch search phase, and v1 is the angular velocity of the satellite’s pitch search.

[0057] For example, the satellite performs pitch search around the Y axis at a negative rotation angular velocity, the angular velocity v1 of the pitch search is -0.5° / s, and the rotatable angle θ of the satellite pitch search phase calculated in step 104 is 159°, then the satellite pitch search time t p Then t p =Θ / v1=159 / 0.5=318s.

[0058] In some embodiments, the satellite rate damping time is calculated by the following formula:

[0059] t r =t f -t p -t s

[0060] In the formula, t r is the satellite velocity damping time, t f is the time when the satellite leaves the earth's shadow, t s is the time from rocket-satellite separation to the start of solar search, t p The satellite's elevation search time.

[0061] In this embodiment, firstly, according to the time t when the satellite leaves the earth's shadow f and the satellite's elevation search time t p, calculate the time t0 when the satellite pitch search starts, and then calculate the time t0 when the satellite pitch search starts and the time t0 when the satellite-rocket separation starts to start the solar search s Calculate the satellite's velocity damping time; for example, the time t when the satellite leaves the Earth's shadow f is 600s, and the satellite pitch search time t obtained by the above calculation is p is 318s, then the time when the satellite pitch search starts is t0 = t f -t p =600-318=282s, satellite rate damping time t r =t0-t s =282-70=212s, so the onboard rate damping time threshold is set to t r =212s, start pitch search in advance, and quickly maneuver to establish a relay link with the relay satellite.

[0062] In order to verify the effectiveness and reliability of the maneuvering method for quickly establishing a relay link after the satellite enters orbit in the embodiment of the present invention, the actual measured value and the estimated value are compared in the embodiment of the present invention. The actual measured value is 44°. r =212s takes into account the reserved maneuvering margin of 0.3° / s separation angular velocity, i.e. Θ1=21° and Θ0=20°. In reality, the satellite angular velocity is very small and can be ignored, so the actual satellite Θ1=0°. Therefore, the estimated value is 21+20=41°, which is very close to the actual value of 44°. It can be seen that the actual result is basically consistent with the theoretical analysis.

[0063] In summary, it can be seen that in the embodiment of the present invention, firstly, according to the field of view of the solar sensor and the position of the sun after the satellite enters orbit, the maximum pitch rotation angle of the satellite during the solar search process of the satellite Fuyang rotation is calculated, and then the worst working conditions are considered to estimate the maximum angle of the satellite pitch rotation from the separation of the satellite and the start of the solar search, and then the reserved maneuvering margin is removed to estimate the angle that the satellite can rotate during the pitch search phase, and finally the pitch search time and the rate damping time are calculated, and the pitch search is started in advance by setting the on-board rate damping threshold, so as to realize rapid maneuvering attitude adjustment and establish a relay link with the relay satellite, thereby improving the reliability of satellite measurement and control. The method in the embodiment of the present invention is simple in principle, easy to implement in engineering, and highly reliable. It can well solve the problem of connecting space-based measurement and control and ground-based measurement and control during the separation of the satellite and the rocket, realize rapid maneuvering to establish a relay link, and improve the reliability of satellite measurement and control.

[0064] like Figure 3 , Figure 4 As shown, an embodiment of the present invention provides a mobile device for quickly establishing a relay link after a satellite enters orbit. The device embodiment can be implemented by software, or by hardware or a combination of software and hardware. From the hardware level, Figure 3As shown, a hardware architecture diagram of a computing device where a mobile device for quickly establishing a relay link after a satellite enters orbit is provided in an embodiment of the present invention. Figure 3 In addition to the processor, memory, network interface, and non-volatile memory shown in the figure, the computing device in which the device is located in the embodiment may also generally include other hardware, such as a forwarding chip responsible for processing messages, etc. Taking software implementation as an example, Figure 4 As shown, as a device in a logical sense, the CPU of the computing device in which it is located reads the corresponding computer program in the non-volatile memory into the memory and runs it. This embodiment provides a mobile device for quickly establishing a relay link after a satellite enters orbit, and the device includes:

[0065] The first calculation unit 301 is used to calculate the satellite's pitch rotation angle when the sun enters the field of view of the sun sensor and exits the field of view of the sun sensor during the process of the satellite searching for the sun by pitch rotation, when the satellite rocket separation stage is in the earth's shadow area and the relay terminal antenna range detected by the satellite orbiting attitude cannot cover the relay satellite;

[0066] An estimation unit 302 is used to estimate the maximum angle of the satellite pitch rotation from the separation of the satellite and the rocket to the start of the solar search;

[0067] The second calculation unit 303 is used to calculate the rotatable angle of the satellite in the pitch search phase according to the pitch rotation angle, the maximum angle and the reserved maneuvering margin;

[0068] The third calculation unit 304 is used to calculate the satellite's pitch search time and rate damping time according to the rotatable angle of the satellite in the pitch search phase, so as to establish a relay link between the satellite and the relay satellite using the pitch search time and the rate damping time.

[0069] In one embodiment of the present invention, in the first calculation unit 301, the pitch rotation angle is less than 360 degrees.

[0070] In one embodiment of the present invention, in the estimation unit 302, the maximum angle of the satellite pitch rotation is calculated by the following formula:

[0071] Θ1=v0t s

[0072] Where v0 is the angular velocity of the rocket-satellite separation, t s The time for the rocket to separate and search the sun.

[0073] In one embodiment of the present invention, the second computing unit 303 is used to execute:

[0074] The pitch rotation angle is subtracted from the maximum angle and the reserved maneuvering margin to calculate the initial angle; it is determined whether the initial angle is greater than 0, and if so, the initial angle is determined as the rotatable angle of the satellite pitch search phase; if not, the reserved maneuvering margin is reduced, and the calculation step and the judgment step of the initial angle are re-executed using the reduced reserved maneuvering margin.

[0075] In one embodiment of the present invention, the third computing unit 304 is used to execute:

[0076] Obtain the angular velocity of the satellite pitch search, the time when the satellite leaves the Earth's shadow, and the time from the separation of the satellite and the rocket to the start of the solar search;

[0077] Calculating the satellite's pitch search time according to the rotatable angle of the satellite during the pitch search phase and the angular velocity of the satellite's pitch search;

[0078] The satellite's rate damping time is calculated based on the time it takes for the satellite to leave the Earth's shadow, the satellite's pitch search time, and the time from satellite-rocket separation to the start of solar search.

[0079] In one embodiment of the present invention, in the third calculation unit 304, the satellite elevation search time is calculated by the following formula:

[0080] t p =Θ / v1

[0081] Where, t p is the satellite’s pitch search time, Θ is the rotatable angle of the satellite during the pitch search phase, and v1 is the angular velocity of the satellite’s pitch search.

[0082] In one embodiment of the present invention, in the third calculation unit 304, the satellite rate damping time is calculated by the following formula:

[0083] t r =t f -t p -t s

[0084] Where, t r is the satellite rate damping time, t f is the time when the satellite leaves the earth's shadow, t s is the time from rocket-satellite separation to the start of solar search, t p The satellite's elevation search time.

[0085] In the embodiment of the present invention, the establishment of relay links and solar search are planned in a coordinated manner without changing the original design of the satellite orbit entry process. The principle is simple, the engineering is easy to implement, and the reliability is high. Only the gyro sensor information is used, and it does not rely on other sensor information, so it can adapt to the orbit entry shadow area restriction. And it can also achieve rapid maneuvers in the case of large attitude adjustment angles. At the same time, the calculation process of the method in this embodiment can be implemented on the ground, and comprehensive analysis, estimation and preset can be performed in advance based on known relevant information, without increasing the workload of the onboard processor.

[0086] It is to be understood that the structure illustrated in the embodiment of the present invention does not constitute a specific limitation on a mobile device for quickly establishing a relay link after a satellite enters orbit. In other embodiments of the present invention, a mobile device for quickly establishing a relay link after a satellite enters orbit may include more or fewer components than shown in the figure, or combine some components, or split some components, or arrange the components differently. The components shown in the figure may be implemented in hardware, software, or a combination of software and hardware.

[0087] The information interaction, execution process and other contents between the modules in the above-mentioned device are based on the same concept as the embodiment of the method of the present invention. For the specific contents, please refer to the description in the embodiment of the method of the present invention, and no further description is given here.

[0088] An embodiment of the present invention further provides a computing device, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, a maneuvering method for quickly establishing a relay link after a satellite enters orbit in any embodiment of the present invention is implemented.

[0089] An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the processor executes a maneuvering method for quickly establishing a relay link after a satellite enters orbit in any embodiment of the present invention.

[0090] Specifically, a system or device equipped with a storage medium can be provided, on which software program code that implements the functions of any of the above-mentioned embodiments is stored, and a computer (or CPU or MPU) of the system or device can be enabled to read and execute the program code stored in the storage medium.

[0091] In this case, the program code itself read from the storage medium can realize the function of any one of the above-mentioned embodiments, and thus the program code and the storage medium storing the program code constitute a part of the present invention.

[0092] The storage medium embodiments for providing the program code include a floppy disk, a hard disk, a magneto-optical disk, an optical disk (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), a magnetic tape, a non-volatile memory card, and a ROM. Alternatively, the program code can be downloaded from a server computer by a communication network.

[0093] In addition, it should be clear that the functions of any of the above embodiments can be implemented not only by executing the program code read by the computer, but also by enabling an operating system operating on the computer to complete part or all of the actual operations based on instructions from the program code.

[0094] In addition, it can be understood that the program code read from the storage medium is written to a memory provided in an expansion board inserted into the computer or to a memory provided in an expansion module connected to the computer, and then based on the instructions of the program code, a CPU installed on the expansion board or expansion module is enabled to perform part or all of the actual operations, thereby realizing the functions of any of the above-mentioned embodiments.

[0095] It should be noted that, in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0096] A person of ordinary skill in the art can understand that all or part of the steps of implementing the above method embodiments can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above method embodiments; and the aforementioned storage medium includes: ROM, RAM, magnetic disk or optical disk, etc., various media that can store program codes.

[0097] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for quickly establishing a relay link after a satellite enters orbit, characterized in that: include: When the satellite-rocket separation stage is in the earth's shadow and the relay terminal antenna range cannot cover the relay satellite when the satellite is detected to be in orbit, the satellite's pitch rotation angle is calculated when the sun enters the field of view of the sun sensor and exits the field of view of the sun sensor during the satellite's pitch rotation process for solar search; Estimate the maximum angle of the satellite's pitch rotation from the time the rocket and satellite separate to the start of the solar search; Calculating a rotatable angle of the satellite in a pitch search phase according to the pitch rotation angle, the maximum angle and a reserved maneuvering margin; The rotatable angle is greater than 0; The pitch search time and rate damping time of the satellite are calculated according to the rotatable angle of the satellite in the pitch search phase, so as to establish a relay link between the satellite and the relay satellite by using the pitch search time and the rate damping time.

2. The method according to claim 1, characterized in that The pitch rotation angle is less than 360 degrees.

3. The method according to claim 1, characterized in that The satellite's pitch rotation angle is calculated using the following formula: Θ1=v0t s Where v0 is the angular velocity of the rocket-satellite separation, t s The time from rocket-satellite separation to the start of the solar search.

4. The method according to claim 1, characterized in that The method further comprises calculating a rotatable angle of the satellite in a pitch search phase according to the pitch rotation angle, the maximum angle and the reserved maneuvering margin, including: The pitch rotation angle is subtracted from the maximum angle and the reserved maneuvering margin to calculate an initial angle; whether the initial angle is greater than 0 is determined, and if so, the initial angle is determined as a rotatable angle in the satellite pitch search phase; if not, the reserved maneuvering margin is reduced, and the calculation step and the judgment step of the initial angle are re-executed using the reduced reserved maneuvering margin.

5. The method according to claim 1, characterized in that The calculation of the satellite pitch search time and the rate damping time comprises: Obtain the angular velocity of the satellite pitch search, the time when the satellite leaves the Earth's shadow, and the time from the separation of the satellite and the rocket to the start of the solar search; Calculating the satellite pitch search time according to the rotatable angle of the satellite pitch search phase and the angular velocity of the satellite pitch search; The satellite's rate damping time is calculated based on the time when the satellite exits the earth's shadow, the satellite's pitch search time, and the time from the separation of the satellite and the start of the solar search.

6. The method according to claim 5, characterized in that The satellite elevation search time is calculated by the following formula: t p =Θ / v1 In the formula, t p is the satellite's pitch search time, θ is the rotatable angle of the satellite during the pitch search phase, and v1 is the angular velocity of the satellite's pitch search.

7. The method according to claim 5, characterized in that The satellite rate damping time is calculated by the following formula: t r =t f -t p -t s Where, t r is the satellite velocity damping time, t f is the time when the satellite leaves the earth's shadow, t s is the time from the separation of the rocket to the start of the solar search, t p is the elevation search time of the satellite.

8. A mobile device for quickly establishing a relay link after a satellite enters orbit, characterized in that: include: The first calculation unit is used to calculate the satellite's pitch rotation angle when the sun enters the field of view of the sun sensor and exits the field of view of the sun sensor during the process of the satellite searching for the sun through pitch rotation, when the satellite-rocket separation stage is in the earth's shadow area and the relay terminal antenna range detected by the satellite entering orbit attitude cannot cover the relay satellite; An estimation unit, used to estimate the maximum angle of the satellite pitch rotation from the separation of the rocket and the start of the solar search; A second calculation unit is used to calculate a rotatable angle of the satellite in a pitch search phase according to the pitch rotation angle, the maximum angle and a reserved maneuvering margin; The rotatable angle is greater than 0; The third calculation unit is used to calculate the satellite's pitch search time and rate damping time according to the rotatable angle of the satellite in the pitch search phase, so as to establish a relay link between the satellite and the relay satellite using the pitch search time and the rate damping time.

9. A computing device, comprising a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium having a computer program stored thereon, which, when executed in a computer, causes the computer to execute the method according to any one of claims 1 to 7.

Images