System and method for ground-based simulation of on-orbit operating environment of laser communication terminals

Abstract

The present invention relates to a system and method for simulating the on-orbit operating environment of a laser communication terminal on the ground. The system includes multiple subsystems, each of which includes: a control unit, which interacts with a time timing unit, a two-dimensional turntable unit, a corresponding laser communication terminal, and a test unit for data exchange; a time timing unit, which realizes the same reference timing of the subsystem to which it belongs and other subsystems; a two-dimensional turntable unit, which is configured to simulate the attitude of the satellite platform where the laser communication terminal is located based on a satellite attitude control signal, and the laser communication terminal drives a rotating mechanism to adjust the position of the laser communication terminal based on a pointing control signal of the control unit; a test unit tests the laser communication terminal; and an optical path combination unit, which is configured to form or disconnect a space laser link between the optical path combination units of other subsystems. The present invention can simulate the on-orbit operating environment of the laser communication terminal and perform comprehensive and dynamic functional tests on the laser communication terminal.

Description

Technical Field

[0001] Embodiments of the present invention generally relate to satellite laser communications, and more particularly to a system and method for simulating an on-orbit operating environment of a ground-based laser communication terminal. Background Art

[0002] Intersatellite laser communication uses laser signals as carriers, and mainly includes point-to-point communication between two terminals between low Earth Orbit-LowEarth Orbit (LEO-LEO), high Earth Orbit-Low Earth Orbit (GEO-LEO), and high Earth Orbit- Geostationary Orbit (GEO-GEO). Satellite-borne laser communication payloads generally include an optical head, an integrated processor, a communication control machine, and an optical fiber amplifier, which realize high-speed data transmission between satellites through optical carriers. The application layout, function verification, and index testing of intersatellite laser communication terminals based on the space orbit environment all need to be pre-tested in the ground environment through a ground simulation platform, so that the full-link functional indicators and the on-orbit application scenarios simulating the space environment can be tested through the ground simulation platform.

[0003] Traditional ground simulation platforms and methods can only simulate static functions such as satellite broadcast data transmission, telemetry and remote control data transmission and reception, or interface testing, which are difficult to meet the needs of simulating on-orbit testing of satellite-borne laser communication terminals. In addition, the test functions are relatively simple and the test coverage is poor, which significantly restricts the improvement of on-orbit testing performance of satellite-borne laser communication terminals. In addition, due to the long relative distance and fast movement speed of the two inter-satellite laser communication terminals, the randomness of the attitude adjustment of the satellite platform, the asynchronization of the time base between different platforms, and the frequent occurrence of solar eclipses, the difficulty of real-time high-precision search, capture, and tracking of the two inter-satellite laser communication terminals on orbit has increased. Therefore, traditional ground simulation platforms cannot simulate the long-term, stable link establishment and rapid reconstruction of the broken link of the two inter-satellite laser communication terminals.

[0004] In summary, the shortcomings of the traditional ground simulation platform and its methods are: the test functions for laser communication terminals are relatively simple and limited to static functions; in addition, it is difficult to meet the needs of long-term and stable link establishment between two inter-satellite laser communication terminals and rapid reconstruction after link disconnection. Summary of the invention

[0005] The present invention provides a system and method for simulating the on-orbit operating environment of a laser communication terminal on the ground, which can simulate the on-orbit operating environment of the laser communication terminal and perform comprehensive and dynamic functional testing on the laser communication terminal.

[0006] Furthermore, the present invention can also effectively meet the requirements of stable link establishment and rapid reconstruction after link disconnection of two inter-satellite laser communication terminals.

[0007] According to a first aspect of the present invention, there is provided a system for simulating an on-orbit operating environment of a ground-based laser communication terminal. The system at least comprises: a plurality of subsystems, which are configured to respectively simulate the on-orbit operating environment of the corresponding laser communication terminal, each subsystem comprising: a control unit, which is configured to exchange data with a time timing unit, a two-dimensional turntable unit, a corresponding laser communication terminal, and a test unit; a time timing unit, which comprises an antenna, and the time timing unit is configured to realize the same reference timing of the subsystem and other subsystems; a two-dimensional turntable unit, which is configured to simulate the attitude of the satellite platform where the laser communication terminal of the subsystem is located based on the satellite attitude control signal sent by the control unit, the laser communication terminal is arranged on the two-dimensional turntable unit, the laser communication terminal comprises a rotating mechanism, and the laser communication terminal is configured to drive the rotating mechanism to adjust the posture of the laser communication terminal based on the pointing control signal of the control unit; a test unit, which is configured to be electrically connected to the control unit and the corresponding laser communication terminal, respectively, so as to test the laser communication terminal; and an optical path combination unit, which is arranged on the optical path of the laser emitted or received by the laser communication terminal, the optical path combination unit comprises a plurality of optical elements, and is configured to form or disconnect a spatial laser link with the optical path combination units of other subsystems.

[0008] In some embodiments, each subsystem also includes: a micro-perturbation simulation unit, which is configured between the laser communication terminal and the optical path combination unit, and on the optical path of the laser emitted or received by the laser communication terminal, the micro-perturbation simulation unit is configured to move based on the disturbance signal output by the control unit so as to interfere with the optical path between the laser communication terminal and the optical path combination unit, and the disturbance signal is generated based on the NASDA power spectral density function.

[0009] In some embodiments, the remapping vector is a linear expansion of the output feature gradient points corresponding to the input feature gradients whose values ​​are not "0" in the reverse remapping relationship, and the remapping index includes a start index and an end index.

[0010] In some embodiments, the control unit is further configured to obtain status information of the two-dimensional turntable unit in real time or at predetermined time intervals.

[0011] In some embodiments, the micro-disturbance simulation unit is a reflector rotation device, and the timing reference of the time timing unit is also the Beidou navigation satellite.

[0012] According to the second aspect of the present invention, a method for simulating the on-orbit operating environment of a ground-based laser communication terminal is also provided. The method is executed on the system described in the first aspect of the invention, and the multiple subsystems include at least a local satellite subsystem and an external satellite subsystem, and is characterized in that the method includes: completing the simultaneous timing of the time timing units of the local satellite subsystem and the external satellite subsystem respectively through the control units of the local satellite subsystem and the external satellite subsystem, and the timing reference of the time timing units is the same as the Beidou navigation satellite; sending a predetermined pulse signal to the corresponding control unit and the two-dimensional turntable unit through the time timing units of the local satellite subsystem and the external satellite subsystem, so as to complete the same reference timing of the corresponding laser communication terminal and the two-dimensional turntable unit; Under the time reference of a reference timing, the laser communication terminal in the satellite subsystem calculates the spatial coordinate difference between the laser communication terminal of the satellite subsystem and the laser communication terminal of other satellite subsystems according to the satellite broadcast data, the attitude data of the two-dimensional turntable unit, and the coordinate conversion matrix between the two-dimensional turntable unit and the laser communication terminal; and the laser communication terminal in the satellite subsystem adjusts the azimuth and / or elevation angle of the laser communication terminal based on the calculated spatial coordinate difference, so that the laser communication terminal in the satellite subsystem establishes or disconnects the space laser link with the laser communication terminal in the other satellite subsystem via the corresponding optical path combination unit.

[0013] In some embodiments, the satellite broadcast data includes local satellite broadcast data and other satellite broadcast data, and the method further includes: forming local satellite broadcast data via a laser communication terminal in the local satellite subsystem; and forming other satellite broadcast data via a laser communication terminal in the other satellite subsystem.

[0014] In some embodiments, completing the same reference timing of the corresponding laser communication terminal and the two-dimensional turntable unit includes: in the local satellite subsystem and the other satellite subsystem, the corresponding time timing unit outputs a first pulse signal to the two-dimensional turntable unit, and outputs a second pulse signal to the control unit; and the control unit obtains a third pulse signal based on the received second pulse signal of the time timing unit, and outputs it to the laser communication terminal, so as to complete the same reference timing of the corresponding laser communication terminal and the two-dimensional turntable unit in the local satellite subsystem and the other satellite subsystem.

[0015] In some embodiments, the formation of local satellite broadcast data via the laser communication terminal in the local satellite subsystem includes: the time synchronization unit uploads the Beidou satellite time value to the control unit; via the control unit, the Beidou satellite time value and the acquired attitude data of the two-dimensional turntable unit are packaged into a data packet to form the local satellite attitude data, so as to send the local satellite attitude data to the laser communication terminal; and based on the Beidou satellite time value, the local satellite orbit simulation data and the other satellite orbit simulation data, the solar vector simulation data, and the local satellite attitude data, the local satellite broadcast data is formed, the local satellite orbit simulation data is constructed by the local satellite attitude data of the local satellite subsystem, and the other satellite orbit simulation data is constructed by the local satellite attitude data of the other satellite subsystem.

[0016] In some embodiments, forming the local satellite attitude data includes: setting the tracking initial time and motion curve of the motion trajectory of the two-dimensional turntable unit via a control unit; clearing the tracking initial time, controlling the two-dimensional turntable unit to start moving, and recording the Beidou satellite time value at the moment when the tracking initial time is cleared; extracting any frame data of the return motion data of the two-dimensional turntable unit to generate the initial data of the local satellite attitude data, and the return motion data is associated with the Beidou satellite time value at the return moment; calculating the Beidou satellite time value corresponding to the two-dimensional turntable unit motion data based on the Beidou satellite time value at the moment when the tracking initial time is cleared and the Beidou satellite time value at the return moment; and reframing the Beidou satellite time value corresponding to the two-dimensional turntable unit motion data, the inner frame angle value and the outer frame angle value of the two-dimensional turntable unit, and the initial data of the local satellite attitude data to generate the local satellite attitude data.

[0017] In some embodiments, forming the attitude data of the satellite also includes: before setting the initial tracking time and motion curve of the motion trajectory of the two-dimensional turntable unit, the time timing unit is powered on and outputs a predetermined second pulse signal; via the control unit, determining whether the predetermined second pulse signal is detected; and in response to determining that the predetermined second pulse signal is detected, setting the initial tracking time of the motion trajectory of the two-dimensional turntable unit.

[0018] In some embodiments, forming the local satellite broadcast data includes: a control unit acquiring the two-dimensional turntable unit motion data once at every first predetermined time interval, the two-dimensional turntable unit motion data at least including the inner frame angle value and the outer frame angle value of the two-dimensional turntable unit; and re-integrating and framing the initial data of the two-dimensional turntable unit motion data corresponding to the Beidou satellite time value, the local satellite orbit simulation data, the other satellite orbit simulation data, the solar vector simulation data, the inner frame angle value and the outer frame angle value of the two-dimensional turntable unit, and the local satellite attitude data to generate the local satellite broadcast data.

[0019] In some embodiments, the method for simulating the on-orbit operating environment of a ground-based laser communication terminal further includes: broadcasting the attitude data of the local satellite at a first predetermined time interval via a control unit; and broadcasting the broadcast data of the local satellite at a second predetermined time interval.

[0020] In some embodiments, the method for ground-based simulation of the on-orbit operating environment of a laser communication terminal also includes: in the local satellite subsystem, the laser communication terminal continuously receives local satellite broadcast data and other satellite broadcast data; the laser communication terminal simulates solar eclipse avoidance operations based on the solar vector simulation data in the local satellite broadcast data; based on the other satellite broadcast data, the orbit data of the other satellite associated with the Beidou satellite time value in a specific time period, the attitude data and speed information of the two-dimensional turntable unit of the other satellite subsystem are obtained; based on the attitude data and speed information of the two-dimensional turntable unit of the other satellite subsystem associated with the Beidou satellite time value, the position information of the laser communication terminal in the other satellite subsystem at the current moment is calculated; based on the laser communication position information of the local satellite subsystem and the position information of the laser communication terminal in the other satellite subsystem at the current moment, the initial pre-pointing data of the local satellite is calculated; and based on the calculated initial pre-pointing data of the local satellite, a control signal is generated to control the rotating structure to complete the initial pre-pointing action.

[0021] The beneficial effects of the present invention include at least: being able to simulate the on-orbit operating environment of the laser communication terminal and conduct a comprehensive and dynamic functional test on the laser communication terminal. Furthermore, the present invention can also effectively meet the needs of establishing a link between two satellite laser communication terminals and quickly rebuilding the link after a link is broken.

[0022] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The above and other features, advantages and aspects of the embodiments of the present invention will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. In the accompanying drawings, the same or similar reference numerals represent the same or similar elements.

[0024] Figure 1 A schematic diagram of a system for simulating an on-orbit operating environment of a ground-based laser communication terminal according to an embodiment of the present invention is schematically shown.

[0025] Figure 2 A flow chart of a method for ground-based simulation of an on-orbit operating environment of a laser communication terminal according to an embodiment of the present invention is schematically shown.

[0026] Figure 3 A flow chart of a method 300 for generating a satellite attitude data packet according to an embodiment of the present invention is shown.

[0027] Figure 4 A schematic diagram of a device for satellite attitude control simulation according to an embodiment of the present invention is shown.

[0028] Figure 5 A flow chart of a method for generating and broadcasting local satellite broadcast data according to an embodiment of the present invention is shown.

[0029] Figure 6 A flow chart of a method for controlling a rotating structure to complete an initial pre-pointing action according to an embodiment of the present invention is shown.

[0030] Figure 7 A schematic diagram of a method for establishing a laser communication link between multiple laser communication terminals according to an embodiment of the present invention is shown.

[0031] In the various drawings, the same or corresponding reference numerals represent the same or corresponding parts. DETAILED DESCRIPTION

[0032] The preferred embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although the preferred embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to make the present invention more thorough and complete, and to fully convey the scope of the present invention to those skilled in the art.

[0033] As used herein, the term "including" and its variations mean open inclusion, i.e., "including but not limited to". Unless otherwise stated, the term "or" means "and / or". The term "based on" means "based at least in part on". The terms "an example embodiment" and "an embodiment" mean "at least one example embodiment". The term "another embodiment" means "at least one additional embodiment". The terms "first", "second", etc. may refer to different or the same objects.

[0034] As described above Figure 1 The following is a schematic diagram of a system for simulating the on-orbit operation environment of a ground-based laser communication terminal according to an embodiment of the present invention. Figure 1 As shown, the system 100 is used to simulate the on-orbit operating environment of the laser communication terminal on the ground. For example, the system 100 can simulate the on-orbit operation and testing process of the intersatellite laser communication terminal in a laboratory environment. The system 100 includes a plurality of (greater than or equal to two) subsystems. Each subsystem, for example, simulates the on-orbit operating environment of the corresponding laser communication terminal carried on the satellite platform, so as to perform comprehensive and dynamic functional testing. Figure 1Two subsystems among multiple subsystems are exemplified. For example, the two subsystems are, for example, the local satellite subsystem indicated by the mark 110 and the other satellite subsystem indicated by the mark 130. It should be understood that the system 100 may include more subsystems. The local satellite subsystem 110 and the other satellite subsystem 130 perform laser communication through the laser path 132. Each subsystem (such as the local satellite subsystem 110 or the other satellite subsystem 130) includes: a control unit 112, a test unit 114, a laser communication terminal 116, a two-dimensional turntable unit 120, a time synchronization unit 118, and an optical path combination unit 124. In some embodiments, each subsystem also includes a micro-disturbance simulation unit 122.

[0035] Regarding the control unit 112 in each subsystem, it is, for example, configured to at least interact with the time service unit 118, the two-dimensional turntable unit 120, the corresponding laser communication terminal 116, and the test unit 114 for data exchange. In some embodiments, the control unit 112 is also configured to interact with the micro-disturbance simulation unit 122 for data exchange, and interact with the control units of other subsystems for data exchange. In some embodiments, the control unit 112 may have one or more processing units, including special processing units such as graphics processing units (GPU), field programmable gate arrays (FPGA), application-specific integrated circuits (ASIC), or general-purpose computing on graphics processing units (GPGPU) and general-purpose processing units such as CPUs. In some embodiments, the control unit 112 of each subsystem, for example, realizes the transmission of telemetry and remote control data of the laser communication terminal 116, the satellite broadcast data, and the extraction of engineering parameters through the data communication path formed between the communication interface (e.g., CAN communication interface) and the communication interface (e.g., CAN communication interface) of the test unit 114. The control unit 112 realizes the reconstruction function of the laser communication terminal 116 through the data communication path formed between the communication interface (e.g., RS422 communication interface) and the communication interface (e.g., RS422 communication interface) of the test unit 114. The control unit 112 realizes the image data download function of the laser communication terminal 116 through the data communication path formed between the communication interface (e.g., LVDS communication interface) and the communication interface (e.g., LVDS communication interface) of the test unit 114. It should be understood that the CAN communication interface, RS422 communication interface, and LVDS communication interface in the above examples are only for illustrative purposes of data interaction and testing via multiple communication interfaces, and the present invention may also adopt other communication interfaces.

[0036] Regarding the time timing unit 118, it at least includes an antenna. In some embodiments, the time timing unit 118 also includes a second pulse generation unit. The time timing unit 118 is, for example, configured to achieve the same reference timing of the subsystem to which it belongs and other subsystems. In some embodiments, the control units 112 of the local satellite subsystem 110 and the other satellite subsystem 130 respectively complete the simultaneous timing with the time timing units 118 of the local satellite subsystem 110 and the other satellite subsystem 130 through their respective network port communication channels (for example, as indicated by the mark 117). The timing references of the time timing units 118 of the local satellite subsystem 110 and the other satellite subsystem 130 are the same Beidou navigation satellite, thereby completing the timing consistency of the laser communication terminals of the local satellite subsystem 110 and the other satellite subsystem 130. In some embodiments, the time synchronization unit 118 of the local satellite subsystem 110 and the other satellite subsystem 130 sends a 1PPS second pulse signal to the control unit 112 and the two-dimensional turntable unit 120, so as to complete the timing of the laser communication terminal 116 and the two-dimensional turntable unit 120 of the local satellite subsystem 110 and the other satellite subsystem 130 based on the same time reference.

[0037] Regarding the two-dimensional turntable unit 120, it is configured, for example, to simulate the attitude of the satellite where the corresponding laser communication of the subsystem belongs to, based on the satellite attitude control signal sent by the control unit. In some embodiments, the control unit 112 completes the attitude control of the two-dimensional turntable unit 120, for example, through the RS422 communication interface, so as to simulate the attitude control of the satellite platform where the laser communication terminal 116 is located.

[0038] Regarding the laser communication terminal 116, it is installed on the two-dimensional turntable unit 120, and the laser communication terminal includes a rotating mechanism. The laser communication terminal is configured to simulate the attitude of the satellite platform where the laser communication terminal of the subsystem belongs to the subsystem based on the satellite attitude control signal sent by the control unit. In some embodiments, under the unified time reference, the laser communication terminal 116 of the local satellite subsystem 110 and the other satellite subsystem 130 calculates the spatial coordinate difference between the laser communication terminal of the local satellite subsystem and the laser communication terminal of the other satellite subsystem according to the satellite broadcast data of the local satellite subsystem 110 and the other satellite subsystem 130 and the attitude data of the two-dimensional turntable unit 120, combined with the conversion calculation of the coordinate conversion matrix; and based on the calculated spatial coordinate difference, adjust the azimuth and / or pitch angle of the laser communication terminal, so as to complete the real-time high-precision pointing of the laser communication terminal of the local satellite subsystem 110 and the other satellite subsystem 130 through the optical path combination unit 124 of the local satellite subsystem 110 and the other satellite subsystem 130.

[0039] As for the testing unit 114 , it is configured to be electrically connected to the control unit and the corresponding laser communication terminal respectively, so as to perform a test on the corresponding laser communication terminal.

[0040] The optical path combination unit 124 is disposed on the optical path of the laser emitted or received by the laser communication terminal. The optical path combination unit includes a plurality of optical elements and is configured to form or disconnect a spatial laser link with the optical path combination units of other subsystems.

[0041] Regarding the micro-disturbance simulation unit 122, it is, for example, configured between the laser communication terminal and the optical path combination unit, and on the optical path of the laser transmitted or received by the laser communication terminal, the micro-disturbance simulation unit is configured to move based on the disturbance signal output by the control unit so as to interfere with the optical path between the laser communication terminal and the optical path combination unit, and the disturbance signal is generated based on the NASDA power spectrum density function. In some embodiments, the control unit 112 completes real-time control of the micro-disturbance simulation unit 122 through the PZT drive control channel 121, thereby completing real-time simulation of the disturbance signal.

[0042] Through the above means, the system 100 of the present invention can set the laser communication terminal on the two-dimensional turntable unit, and make the two-dimensional turntable unit simulate the attitude of the satellite platform where the laser communication terminal is located based on the satellite attitude control signal sent by the control unit, and make the laser communication terminal adjust the posture based on the pointing control signal of the control unit. Therefore, the present invention can simulate the on-orbit operation environment of the laser communication terminal, and use the test unit to perform comprehensive and dynamic functional tests on the laser communication terminal with adjustable posture on the two-dimensional turntable unit whose posture can change dynamically. In addition, by realizing the same reference timing of different subsystems through the time timing unit, and forming or disconnecting the space laser link between the optical path combination units set on the optical path of the laser communication terminal in different subsystems, the present invention can effectively meet the needs of stable link establishment and rapid reconstruction after link breakage of the laser communication terminal between two satellites.

[0043] Figure 2 The flowchart of the method 200 for simulating the on-orbit operation environment of the laser communication terminal on the ground according to an embodiment of the present invention is schematically shown. The method 200 may also include additional actions not shown and / or may omit the actions shown, and the scope of the present invention is not limited in this respect.

[0044] At step 202, the time service units of the local satellite subsystem and the other satellite subsystem are respectively synchronized through the control units of the local satellite subsystem and the other satellite subsystem, and the timing reference of the time service units is the Beidou navigation satellite.

[0045] At step 204, predetermined pulse signals are sent to the corresponding control unit and two-dimensional turntable unit via the time timing units of the local satellite subsystem and the other satellite subsystem, respectively, so as to complete the same reference timing of the corresponding laser communication terminal and the two-dimensional turntable unit.

[0046] For example, in the local satellite subsystem and the other satellite subsystem, the corresponding time timing unit outputs a first pulse signal to the two-dimensional turntable unit, and outputs a second pulse signal to the control unit; and the control unit obtains a third pulse signal based on the received second pulse signal of the time timing unit, and outputs it to the laser communication terminal, so as to complete the same reference timing of the corresponding laser communication terminal and the two-dimensional turntable unit in the local satellite subsystem and the other satellite subsystem. For example, the time timing unit 118 outputs two pulse signals, for example, outputs two 1PPS second pulse signals. Among them, one 1PPS second pulse signal is output to the two-dimensional turntable unit 120 in the local satellite subsystem, and the other 1PPS second pulse signal is output to the control unit 112. The control unit 112 obtains the 1PPS second pulse signal of the laser communication terminal based on the received 1PPS second pulse signal of the time timing unit 118, and outputs it to the laser communication terminal 116 according to the interface matching requirements, so as to complete the same time reference timing of the corresponding laser communication terminal 116 and the two-dimensional turntable unit 120.

[0047] At step 206, under the time reference of the same reference timing, the laser communication terminal in the satellite subsystem calculates the spatial coordinate difference between the laser communication terminal of the satellite subsystem and the laser communication terminal of the other satellite subsystem based on the satellite broadcast data, the attitude data of the two-dimensional turntable unit, and the coordinate conversion matrix between the two-dimensional turntable unit and the laser communication terminal.

[0048] Regarding satellite broadcast data, it includes, for example, local satellite broadcast data and other satellite broadcast data. For example, local satellite broadcast data is formed via the laser communication terminal in the local satellite subsystem. Other satellite broadcast data is formed via the laser communication terminal in the other satellite subsystem. Local satellite broadcast data includes, for example: Beidou satellite time value, local satellite orbit simulation data and other satellite orbit simulation data, solar vector simulation data, local satellite attitude data. Similarly, local satellite broadcast data includes, for example: Beidou satellite time value, other satellite orbit simulation data, target satellite orbit simulation data (target satellite orbit simulation data is, for example, local satellite orbit simulation data corresponding to the local satellite subsystem, and it should be understood that the target satellite orbit simulation data also includes the orbit simulation data of other satellite platforms docked with other satellite platforms), solar vector simulation data, and other satellite attitude data.

[0049] Regarding the method for forming the local satellite broadcast data, it includes, for example: the time synchronization unit uploads the Beidou satellite time value to the control unit; via the control unit, the Beidou satellite time value and the acquired attitude data of the two-dimensional turntable unit are packaged into a data packet to form the local satellite attitude data, so as to send the local satellite attitude data to the laser communication terminal; and based on the Beidou satellite time value, the local satellite orbit simulation data and the other satellite orbit simulation data, the sun vector simulation data, based on the local satellite attitude data, the local satellite broadcast data is formed, the local satellite orbit simulation data is constructed by the local satellite attitude data of the local satellite subsystem, and the other satellite orbit simulation data is constructed by the local satellite attitude data of the other satellite subsystem. The following will be combined with Figure 4 The method 400 for forming the local satellite broadcast data is described in detail and will not be repeated here.

[0050] At step 208, the laser communication terminal in the local satellite subsystem adjusts the azimuth angle and / or elevation angle of the laser communication terminal based on the calculated spatial coordinate difference, so that the laser communication terminal in the local satellite subsystem establishes or disconnects the space laser link with the laser communication terminal in the other satellite subsystem via the corresponding optical path combination unit.

[0051] In the above scheme, the time timing units of the satellite subsystem and the other satellite subsystem are used to complete the simultaneous timing of the time timing units, and the same reference timing of the corresponding laser communication terminal and the two-dimensional turntable unit is completed; and under the time reference of the same reference timing, the azimuth and / or pitch angle of the laser communication terminal is adjusted according to the satellite broadcast data, the attitude data of the two-dimensional turntable unit, and the coordinate conversion matrix between the two-dimensional turntable unit and the laser communication terminal, so that the laser communication terminal in the satellite subsystem can establish or disconnect the space laser link with the laser communication terminal in the other satellite subsystem via the corresponding optical path combination unit. The present invention can simulate the random adjustment of the satellite platform attitude, and overcome the problem of time reference asynchrony between different platforms, so as to realize the on-orbit real-time high-precision search and capture of two inter-satellite laser communication terminals. Therefore, the present invention can also effectively meet the needs of stable link establishment and rapid reconstruction after link break of two inter-satellite laser communication terminals.

[0052] The following will be combined Figure 3 and Figure 4 The method 300 for generating a satellite attitude data packet according to an embodiment of the present invention is described. Figure 3 A flow chart of a method 300 for generating a satellite attitude data packet according to an embodiment of the present invention is shown. Figure 4 A schematic diagram of an apparatus 400 for satellite attitude control simulation according to an embodiment of the present invention is shown. The method 300 may further include additional actions not shown and / or may omit the actions shown, and the scope of the present invention is not limited in this respect.

[0053] At step 302, the control unit sets the initial tracking time and motion curve of the motion trajectory of the two-dimensional turntable unit.

[0054] like Figure 4 As shown, the two-dimensional turntable unit 120 can exchange data with the control unit 112 through the sixth communication interface 420 (e.g., RS422 communication interface) and the communication protocol. The control unit 112 is configured to support the sending of motion data of the two-dimensional turntable unit 120 and the real-time collection of status information (e.g., motion data) of the two-dimensional turntable unit 120. The two-dimensional turntable unit 120 is also configured with a fifth communication interface 418 (e.g., second pulse interface) for exchanging data with the time service unit 118. Figure 4 As shown, the control unit 112 exchanges data with the laser communication terminal 116 through the first communication interface 410 and the second communication interface 412. The control unit 112 exchanges data with the time service unit 118 through the third communication interface 414 and the fourth communication interface 416.

[0055] In some embodiments, after the control unit 112 confirms that the input of the predetermined pulse per second signal of the two-dimensional turntable unit is valid, it sets the tracking initial time and motion curve of the motion trajectory of the two-dimensional turntable unit.

[0056] Regarding the method for confirming that the input of the predetermined second pulse signal of the two-dimensional turntable unit is valid, it includes, for example, before setting the initial tracking time and motion curve of the motion trajectory of the two-dimensional turntable unit, the time timing unit is powered on and outputs the predetermined second pulse signal; through the control unit, it is determined whether the predetermined second pulse signal is detected; and in response to determining that the predetermined second pulse signal is detected, the initial tracking time of the motion trajectory of the two-dimensional turntable unit is set. For example, after the time timing unit is powered on, it outputs a 1PPS second pulse signal (for example, the time timing unit outputs two 1PPS second pulse signals, one 1PPS second pulse signal is output to the two-dimensional turntable unit 120, for example, via the fifth communication interface 418, and the other 1PPS second pulse signal is output to the control unit 112, for example, via the third communication interface 414); the control unit 112 determines whether the predetermined second pulse signal is detected through the second pulse query instruction, so as to ensure that the input of the predetermined second pulse signal is valid. If it is determined that the predetermined second pulse signal is detected, it is determined that the timing of the two-dimensional turntable unit 120, the control unit 112 and the time timing unit is consistent, and the Beidou satellite time is updated. If it is determined that the predetermined second pulse signal is not detected, then the second pulse query instruction is continued to determine whether the predetermined second pulse signal is detected. It should be understood that the predetermined second pulse signal and the time value of the time grant appear in pairs. Through the above means, the present invention can ensure that the predetermined second pulse signal of the two-dimensional turntable unit and its associated time value input are valid.

[0057] Regarding the motion curve, it is, for example, pre-set by the control unit and is used to indicate the motion data of the satellite platform to be simulated by the two-dimensional turntable platform. The motion curve is, for example, a sine wave motion curve, or a cosine wave motion curve, or other motion curves such as a square wave motion curve. The motion curve frequency is, for example, but not limited to, 10 Hz. In addition, the amplitude of the motion curve frequency can also be pre-set by the control unit. The file of the motion curve is, for example, but not limited to, in ".xlsx format".

[0058] At step 304, the initial tracking time is reset to zero, the two-dimensional turntable unit is controlled to start moving, and the Beidou satellite time value at the time when the initial tracking time is reset to zero is recorded.

[0059] Regarding the Beidou satellite time value at the time of tracking the initial time reset, it is, for example, the whole second value of the Beidou satellite time at the time of tracking the initial time reset.

[0060] For example, the control unit 112 clears the initial tracking time and sends the set motion curve to the two-dimensional turntable unit 120 so as to control the two-dimensional turntable unit to start running, and obtain the status information (for example, also called "motion data" or "attitude data") and Beidou satellite time value of the two-dimensional turntable unit 120 at the moment when the initial tracking time is cleared.

[0061] Regarding the Beidou satellite time value, it comes from the time service unit 118, for example. Figure 4 As shown, the time service unit 118 outputs the Beidou satellite time value to the control unit 112 via the fourth communication interface 416 (eg, communication network port), and the transmission protocol of the time service unit 118 is, for example, NTP format.

[0062] At step 306, any frame data of the return motion data of the two-dimensional turntable unit is extracted to generate initial data of the local satellite attitude data, wherein the return motion data is associated with the Beidou satellite time value at the return time.

[0063] The return motion data of the two-dimensional turntable unit is, for example, posture data of the two-dimensional turntable unit when the two-dimensional turntable unit returns every 10 ms.

[0064] For example, the control unit sends a tracking instruction and extracts the return motion data (i.e., posture data) of the two-dimensional turntable unit. The control unit also detects whether the flag indicating whether the received current frame posture data is valid is "1". If the flag indicates that the received current frame posture data is valid, the received current frame posture data is stored. The current frame posture data, for example, includes the inner frame angle value of the two-dimensional turntable unit (the inner frame angle value indicates the pitch angle data), the outer frame angle value of the two-dimensional turntable unit (the outer frame angle value indicates the azimuth angle data), and the Beidou satellite time value T2 of the return time of the return motion data of the two-dimensional turntable unit.

[0065] In step 308, based on the Beidou satellite time value at the time of initial tracking time reset and the Beidou satellite time value at the return time, the Beidou satellite time value corresponding to the two-dimensional turntable unit motion data is calculated.

[0066] The two-dimensional turntable unit motion data corresponds to the Beidou satellite time value, which is determined based on the following formula (1), for example.

[0067] T1=T0+T2 (1)

[0068] In the above formula (1), T1 represents the Beidou satellite time value corresponding to the motion data of the two-dimensional turntable unit. T0 represents the Beidou satellite time value at the time of tracking the initial time reset, that is, the whole second value of the control unit 112 at the time of tracking the initial time reset. T2 represents the Beidou satellite time value at the return time of the return motion data of the two-dimensional turntable unit (the Beidou satellite time value at the return time is, for example, the accumulated value of the second time and the sequence number in the return motion data).

[0069] At step 310, the two-dimensional turntable unit motion data corresponding to the Beidou satellite time value, the inner frame angle value and outer frame angle value of the two-dimensional turntable unit, and the initial data of the local satellite attitude data are reframed to generate the local satellite attitude data.

[0070] The initial data of the own satellite attitude data (ie, the first frame data) is used, for example, as a verification value in the own satellite attitude data.

[0071] The control unit 112 reframes the two-dimensional turntable unit motion data corresponding to the Beidou satellite time value T1, the inner frame angle value, the outer frame angle value of the two-dimensional turntable unit, and the initial data of the local satellite attitude data to generate a local satellite attitude data packet.

[0072] In some embodiments, the control unit 112 further sends the generated local satellite attitude data to the laser communication terminal of the same subsystem at a frequency of 1 Hz, and further forms and broadcasts local satellite broadcast data based on the local satellite attitude data.

[0073] By adopting the above-mentioned means, the present invention can utilize each subsystem to simulate the local satellite attitude data of each laser communication terminal running in orbit on the ground.

[0074] The following will be combined Figure 5 The method 500 for generating and broadcasting local satellite broadcast data according to an embodiment of the present invention is described. Figure 5 The flowchart of the method 500 for generating and broadcasting local satellite broadcast data according to an embodiment of the present invention is shown. The method 500 may also include additional actions not shown and / or may omit the actions shown, and the scope of the present invention is not limited in this respect.

[0075] At step 502, the control unit acquires the motion data of the two-dimensional turntable unit once at a first predetermined time interval, and the motion data of the two-dimensional turntable unit at least includes an inner frame angle value and an outer frame angle value of the two-dimensional turntable unit.

[0076] Regarding the first predetermined time, it is 250 ms, for example.

[0077] For example, the control unit 112 of each subsystem captures the return motion data (ie, posture data) of the two-dimensional turntable unit once every 250 ms, and discards the remaining return motion data.

[0078] Regarding the method for grasping the two-dimensional turntable unit, for example, it includes: the two-dimensional turntable unit returns the posture data of the two-dimensional turntable unit once every 10ms, and each time the posture data of the two-dimensional turntable unit is returned, the count value is increased by "1" until a predetermined number is reached (the predetermined number is, for example, 25). If the predetermined number is reached, the control unit grasps the return motion data of the two-dimensional turntable unit once.

[0079] At step 504, the two-dimensional turntable unit motion data corresponding to the Beidou satellite time value, the local satellite orbit simulation data, the other satellite orbit simulation data, the solar vector simulation data, the inner frame angle value and the outer frame angle value of the two-dimensional turntable unit, and the initial data of the local satellite attitude data are reframed and fused to generate the local satellite broadcast data.

[0080] The local satellite orbit simulation data is, for example, the local satellite attitude data, which is, for example, the local satellite attitude data packet of the first satellite.

[0081] Regarding the other-satellite orbit simulation data, it is, for example, the attitude data of the local satellite generated by the control unit of the other satellite (for example, the second satellite) to establish a laser communication link with the local satellite. The other-satellite orbit simulation data is, for example, obtained by the control unit of the local satellite subsystem from the control unit of the other satellite subsystem.

[0082] Regarding the sun vector simulation data, it indicates, for example, position information of the sun.

[0083] For example, the control unit 112 frames the Beidou satellite time value, the local satellite orbit simulation data, the other satellite orbit simulation data, the sun vector simulation data, and the return motion data of the two-dimensional turntable unit obtained at step 502 to generate the local satellite broadcast data.

[0084] At step 506, the control unit broadcasts the attitude data of the local satellite at first predetermined intervals, and broadcasts the broadcast data of the local satellite at second predetermined intervals.

[0085] The first predetermined time is, for example but not limited to, 250 ms.

[0086] The second predetermined time is, for example but not limited to, 1 second.

[0087] For example, the control unit 112 broadcasts the local satellite broadcast data once every 1 second, and broadcasts the return motion data of the two-dimensional turntable unit every 250 ms, so that the laser communication terminal of the local satellite subsystem can obtain all the data required to establish a laser communication link with other satellites.

[0088] By adopting the above-mentioned means, the present invention can utilize each subsystem to generate and broadcast the local broadcast data of the simulated in-orbit satellite, so as to simulate the establishment of laser communication links between multiple laser communication terminals.

[0089] The following will be combined Figure 6 and Figure 7 A method 600 for controlling a rotating structure to complete an initial pre-pointing action according to an embodiment of the present invention is described. Figure 6 A flow chart of a method 600 for controlling a rotating structure to complete an initial pre-pointing action according to an embodiment of the present invention is shown. Figure 7 A schematic diagram of a method for establishing a laser communication link between multiple laser communication terminals according to an embodiment of the present invention is shown. Method 600 may also include additional actions not shown and / or may omit the actions shown, and the scope of the present invention is not limited in this respect.

[0090] At step 602, in the local satellite subsystem, the laser communication terminal continuously receives local satellite broadcast data and other satellite broadcast data.

[0091] The local satellite subsystem, for example, simulates the local satellite platform. The other satellite subsystem, for example, simulates the other satellite platform to establish a laser communication link with the local satellite platform.

[0092] like Figure 7 As shown, mark 710 indicates the orbits of the local satellite platform and the other satellite platform. Mark 712 indicates the directions in which the local satellite platform and the other satellite platform are running. The local satellite platform carries the laser communication terminal of the local satellite. Mark 720 indicates the position of the local satellite platform at time T0. Mark 722 indicates the position of the local satellite platform at time T. At time T, the laser communication terminal of the local satellite platform, for example, points to the direction indicated by mark 724. It should be understood that during the movement of the local satellite platform, the local broadcast data of the local satellite platform will be sent to the other satellite platform, and the data of the other satellite platform will also be sent to the local satellite platform.

[0093] For example, each satellite platform sends local broadcast data for simulating the local satellite platform at the falling edge of each 1PPS second pulse. The local broadcast data includes, for example, on-board time (for example, Beidou satellite time), local satellite orbit simulation data, other satellite orbit simulation data, solar vector simulation data and local satellite attitude data.

[0094] At step 604, the laser communication terminal simulates a solar transit avoidance operation based on the solar vector simulation data in the local satellite broadcast data.

[0095] For example, the laser communication terminal of the local satellite subsystem used to simulate the local satellite platform simulates the solar transit avoidance operation based on the solar vector simulation data in the acquired local satellite broadcast data.

[0096] Regarding the method for simulating the solar transit avoidance operation, for example, the laser communication terminal calculates the angle between the laser emission or receiving vector data of its own satellite and the solar vector simulation data indicated in the broadcast data of the satellite in real time, and if the angle indicates that the laser emission or receiving vector of the satellite and the solar vector are about to approach the same straight line (for example, the angle is less than 3°), an early warning is issued to adjust the azimuth and / or pitch angle of the laser emission terminal of the satellite so as to deviate from the azimuth and / or pitch angle at the time of the early warning; if the angle indicates that the laser emission or receiving vector of the satellite and the solar vector gradually deviate from the same straight line, the pitch angle of the laser emission terminal of the satellite is restored to the pitch angle at the time of the early warning. Thus, the present invention can simulate the solar transit avoidance operation.

[0097] At step 606, based on the other-satellite broadcast data, the other-satellite orbit data associated with the Beidou satellite time value in a specific time period, the attitude data and speed information of the two-dimensional turntable unit of the other-satellite subsystem are obtained.

[0098] For example, through the data acquisition channel of the other satellite subsystem, the orbit data of the other satellite associated with the Beidou satellite time value, the attitude data and speed information of the two-dimensional turntable unit of the other satellite subsystem are obtained in a specific period of time, and then the local satellite broadcast data (i.e., the other satellite broadcast data) of the other satellite subsystem is uploaded to the local satellite subsystem through the data upload channel of the other satellite subsystem. The local satellite subsystem forwards it to the laser communication terminal of the local satellite subsystem through the telemetry and remote control (CAN communication interface) channel.

[0099] At step 608, based on the attitude data and speed information of the two-dimensional turntable unit of the other satellite subsystem associated with the Beidou satellite time value, the position information of the laser communication terminal in the other satellite subsystem at the current moment is calculated.

[0100] like Figure 7As shown, mark 760 indicates the position of the other satellite platform at time T0. Mark 762 indicates the position of the other satellite platform at time T. At time T, the laser communication terminal of the other satellite platform is pointed to the direction indicated by mark 764. Mark 766 indicates the position information of the laser communication terminal in the other satellite subsystem calculated by the own satellite subsystem at the current time. Mark 726 indicates the position information of the laser communication terminal in the own satellite subsystem calculated by the other satellite subsystem at the current time.

[0101] At step 610, initial pre-pointing data of the own satellite is calculated based on the position information of the laser communication of the own satellite subsystem and the position information of the laser communication terminal in the other satellite subsystem at the current moment.

[0102] like Figure 7 As shown, based on the position information 724 of the laser communication of the own satellite subsystem at time T and the position information 764 of the laser communication terminal in the other satellite subsystem at time T, the own satellite initial pre-pointing data 728 is calculated. Similarly, the laser communication of the other satellite subsystem is based on the position information 764 of the laser communication of the other satellite subsystem at time T and the position information 724 of the laser communication terminal in the own satellite subsystem at time T, and the other satellite initial pre-pointing data 768 is calculated.

[0103] At step 612, a control signal is generated based on the calculated initial pre-pointing data of the own satellite, so as to control the rotating structure to complete the initial pre-pointing action.

[0104] For example, the control unit of the own satellite subsystem generates a control signal based on the calculated own satellite initial pre-pointing data 728 to drive the rotation mechanism of the laser communication terminal of the own satellite subsystem to complete the initial pre-pointing action of the own satellite. The control unit of the other satellite subsystem generates a control signal based on the calculated other satellite initial pre-pointing data 738 to drive the rotation mechanism of the laser communication terminal of the other satellite subsystem to complete the initial pre-pointing action of the other satellite.

[0105] By adopting the above-mentioned means, the present invention can complete the simulated dual-terminal on-orbit mutual pointing operation of the local satellite platform and the other satellite platform in a laboratory environment.

[0106] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps loaded in this application can be executed in parallel, sequentially or in different orders, as long as the expected results of the technical solution disclosed in this application can be achieved, and this document is not limited here.

[0107] The above specific implementations do not constitute a limitation on the protection scope of the present application. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made according to design requirements and other factors.

Claims

1. A system for simulating the on-orbit operating environment of a ground-based laser communication terminal, characterized in that: The system at least includes: a plurality of subsystems configured to respectively simulate the on-orbit operating environment of the corresponding laser communication terminal, the plurality of subsystems at least including a local satellite subsystem and an other satellite subsystem, each subsystem including: The control unit is configured to exchange data with the time service unit, the two-dimensional turntable unit, the corresponding laser communication terminal, and the test unit. The control unit realizes the sending of telemetry and remote control data and satellite broadcast data to the laser communication terminal through the data communication path formed between the control unit's communication interface and the communication interface of the test unit. The satellite broadcast data includes local satellite broadcast data and other satellite broadcast data. A time service unit, including an antenna, the time service unit is configured to achieve the same reference time service for the subsystem to which it belongs and other subsystems; A two-dimensional turntable unit is configured to simulate the attitude of a satellite platform where a laser communication terminal of the subsystem is located based on a satellite attitude control signal sent by a control unit, the laser communication terminal is mounted on the two-dimensional turntable unit, the laser communication terminal includes a rotation mechanism, and the laser communication terminal is configured to drive the rotation mechanism to adjust the posture of the laser communication terminal based on a pointing control signal of the control unit; a testing unit configured to be electrically connected to the control unit and the corresponding laser communication terminal, respectively, so as to test the laser communication terminal; and An optical path combination unit is arranged on an optical path of laser emitted or received by the laser communication terminal, the optical path combination unit includes a plurality of optical elements, and is configured to form or disconnect a spatial laser link with optical path combination units of other subsystems; Among them, the satellite broadcast data is generated through the laser communication terminal in the satellite subsystem based on the Beidou satellite time value, the satellite orbit simulation data and other satellite orbit simulation data, the sun vector simulation data, and the satellite attitude data.

2. The system according to claim 1, characterized in that Each subsystem also includes: The micro-perturbation simulation unit is configured between the laser communication terminal and the optical path combination unit, and on the optical path of the laser emitted or received by the laser communication terminal, the micro-perturbation simulation unit is configured to move based on the disturbance signal output by the control unit so as to interfere with the optical path between the laser communication terminal and the optical path combination unit, and the disturbance signal is generated based on the NASDA power spectral density function.

3. The system according to claim 1, characterized in that The control unit is further configured to obtain status information of the two-dimensional turntable unit in real time or at predetermined time intervals.

4. The system according to claim 1, characterized in that The micro-disturbance simulation unit is a reflector rotation device, and the timing reference of the time timing unit is the Beidou navigation satellite.

5. A method for simulating the on-orbit operating environment of a ground-based laser communication terminal, the method being executed on a system according to any one of claims 1 to 4, characterized in that: The method comprises: The control units of the local satellite subsystem and the other satellite subsystem respectively complete the simultaneous timing of the time timing units of the local satellite subsystem and the other satellite subsystem, and the timing reference of the time timing units is the Beidou navigation satellite; The predetermined pulse signals are respectively sent to the corresponding control unit and the two-dimensional turntable unit via the time timing units of the own satellite subsystem and the other satellite subsystem, so as to complete the same reference timing of the corresponding laser communication terminal and the two-dimensional turntable unit; Under the time reference of the same reference timing, the laser communication terminal in the own satellite subsystem calculates the spatial coordinate difference between the laser communication terminal of the own satellite subsystem and the laser communication terminal of the other satellite subsystem according to the satellite broadcast data, the attitude data of the two-dimensional turntable unit, and the coordinate conversion matrix between the two-dimensional turntable unit and the laser communication terminal; and The laser communication terminal in the satellite subsystem adjusts the azimuth and / or elevation angle of the laser communication terminal based on the calculated spatial coordinate difference, so that the laser communication terminal in the satellite subsystem establishes or disconnects the space laser link with the laser communication terminal in the other satellite subsystem via the corresponding optical path combination unit.

6. The method according to claim 5, characterized in that The method further comprises: The laser communication terminal in the local satellite subsystem forms the local satellite broadcast data; and the laser communication terminal in the other satellite subsystem forms the other satellite broadcast data.

7. The method according to claim 5, characterized in that The same reference timing of the corresponding laser communication terminal and the two-dimensional turntable unit is completed including: In the local satellite subsystem and the other satellite subsystem, the corresponding time service unit outputs a first pulse signal to the two-dimensional turntable unit, and outputs a second pulse signal to the control unit; and The control unit obtains a third pulse signal based on the second pulse signal received from the time timing unit, and outputs it to the laser communication terminal, so as to complete the same reference timing of the corresponding laser communication terminals and two-dimensional turntable units in the satellite subsystem and the other satellite subsystem.

8. The method according to claim 6, characterized in that The satellite broadcast data formed through the laser communication terminal in the satellite subsystem includes: The time service unit uploads the Beidou satellite time value to the control unit; The control unit packages the Beidou satellite time value and the acquired attitude data of the two-dimensional turntable unit into a data packet to form the attitude data of the local satellite, thereby sending the attitude data of the local satellite to the laser communication terminal; The local satellite orbit simulation data is constructed by the local satellite attitude data of the local satellite subsystem, and the other satellite orbit simulation data is constructed by the local satellite attitude data of the other satellite subsystem.

9. The method according to claim 8, characterized in that The data of the satellite's attitude include: Setting the tracking initial time and motion curve of the motion trajectory of the two-dimensional turntable unit via the control unit; The tracking initial time is reset to zero, and the two-dimensional turntable unit is controlled to start moving, and the Beidou satellite time value at the time when the tracking initial time is reset to zero is recorded; Extracting any frame data of the return motion data of the two-dimensional turntable unit to generate initial data of the local satellite attitude data, wherein the return motion data is associated with the Beidou satellite time value at the return time; Calculate the Beidou satellite time value corresponding to the two-dimensional turntable unit motion data based on the Beidou satellite time value at the time of initial tracking time reset and the Beidou satellite time value at the time of return; and The motion data of the two-dimensional turntable unit corresponding to the Beidou satellite time value, the inner frame angle value and outer frame angle value of the two-dimensional turntable unit, and the initial data of the local satellite attitude data are reframed to generate the local satellite attitude data.

10. The method according to claim 9, characterized in that The data of the satellite's attitude also include: Before setting the tracking initial time and motion curve of the motion trajectory of the two-dimensional turntable unit, the time service unit is powered on and outputs a predetermined second pulse signal; determining, via the control unit, whether a predetermined pulse per second signal is detected; and In response to determining that the predetermined pulse per second signal is detected, an initial time for tracking the motion trajectory of the two-dimensional turntable unit is set.

11. The method according to claim 8, characterized in that The satellite broadcast data includes: The control unit acquires the motion data of the two-dimensional turntable unit once at a first predetermined time interval, wherein the motion data of the two-dimensional turntable unit at least includes an inner frame angle value and an outer frame angle value of the two-dimensional turntable unit; and The two-dimensional turntable unit motion data corresponding to the Beidou satellite time value, the local satellite orbit simulation data, the other satellite orbit simulation data, the solar vector simulation data, the inner frame angle value and the outer frame angle value of the two-dimensional turntable unit, and the initial data of the local satellite attitude data are re-integrated and framed to generate the local satellite broadcast data.

12. The method according to claim 11, characterized in that Also includes: broadcasting the attitude data of the satellite at first predetermined intervals via the control unit; and The satellite broadcast data is broadcast at every second predetermined time interval.

13. The method according to claim 6, characterized in that Also includes: In the local satellite subsystem, the laser communication terminal continuously receives the local satellite broadcast data and other satellite broadcast data; The laser communication terminal simulates the solar transit avoidance operation based on the solar vector simulation data in the satellite broadcast data; Based on the broadcast data of other satellites, obtain the orbit data of other satellites associated with Beidou satellite time values ​​in a specific period of time, and the attitude data and speed information of the two-dimensional turntable unit of the other satellite subsystem; Based on the attitude data and speed information of the two-dimensional turntable unit of the other satellite subsystem associated with the Beidou satellite time value, calculate the position information of the laser communication terminal in the other satellite subsystem at the current moment; Based on the position information of the laser communication of the own satellite subsystem and the position information of the laser communication terminal in the other satellite subsystem at the current moment, the initial pre-pointing data of the own satellite is calculated; as well as Based on the calculated initial pre-pointing data of the own satellite, a control signal is generated to control the rotating structure to complete the initial pre-pointing action.

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