Satellite rescue method, device and equipment and storage medium

Abstract

The invention discloses a satellite rescue method, device and equipment and a storage medium, and relates to the technical field of satellite rescue, and the satellite rescue method comprises the steps: obtaining sun position information, satellite positioning data and imaging parameters of an optical load carried by a rescue satellite, the satellite positioning data comprises orbit parameters of a fault satellite and orbit parameters of a rescue satellite; adjusting orbit parameters of a rescue satellite according to the orbit parameters of the fault satellite, so that the rescue satellite and the fault satellite share the same orbit plane; according to the sun position information and / or the imaging parameters, the rescue satellite is controlled to fly around the fault satellite as the center, and fault information of the fault satellite is obtained; and adjusting orbit parameters of the rescue satellite, controlling the rescue satellite to approach the fault satellite until the relative positions of the fault satellite and the rescue satellite reach a preset distance range, and performing fault repair on the fault satellite through the rescue satellite according to the fault information. The technical problems of low efficiency and low success rate of satellite rescue can be solved.

Description

Technical Field

[0001] The present application relates to the field of satellite rescue technology, and in particular to a satellite rescue method, device, equipment and storage medium. Background Art

[0002] In the field of satellite rescue, when rescuing faulty satellites in geosynchronous orbit, traditional methods usually follow the steps of remote adjustment, planned approach, flyby observation and close rendezvous. However, these traditional methods have certain shortcomings. For example, rescue satellites need to perform orbital maneuvers in multiple stages such as remote adjustment, planned approach, flyby observation and close rendezvous. If the fuel is not managed properly, the rescue mission may be terminated prematurely. Rescue satellites need to process a large amount of data and make decisions in real time in a complex and changing mission environment, and the rescue process is difficult to control.

[0003] Therefore, how to improve the efficiency and success rate of satellite rescue is a problem that needs to be solved urgently. Summary of the invention

[0004] The main purpose of this application is to provide a satellite rescue method, device, equipment and storage medium, aiming to solve the technical problems of low efficiency and success rate of satellite rescue.

[0005] To achieve the above object, the present application provides a satellite rescue method, which is applied to a satellite rescue system, wherein the satellite rescue system includes a faulty satellite and a rescue satellite, and the satellite rescue method includes:

[0006] Acquiring sun position information, satellite positioning data, and imaging parameters of an optical payload carried by the rescue satellite, wherein the satellite positioning data includes orbital parameters of the faulty satellite and orbital parameters of the rescue satellite;

[0007] Adjusting the orbital parameters of the rescue satellite according to the orbital parameters of the faulty satellite so that the rescue satellite and the faulty satellite share the same orbital plane;

[0008] Controlling the rescue satellite to fly around the faulty satellite according to the sun position information and / or the imaging parameters, and acquiring fault information of the faulty satellite;

[0009] adjusting the orbital parameters of the rescue satellite according to the orbital parameters of the faulty satellite, and controlling the rescue satellite to approach the faulty satellite until the relative positions of the faulty satellite and the rescue satellite reach a preset distance range;

[0010] Within the distance range, the faulty satellite is repaired according to the fault information by the rescue satellite.

[0011] In one embodiment, the step of adjusting the orbital parameters of the rescue satellite according to the orbital parameters of the faulty satellite so that the rescue satellite and the faulty satellite are in the same orbital plane comprises:

[0012] Determining the orbital inclination of the faulty satellite and the orbital inclination of the rescue satellite according to the orbital parameters of the faulty satellite and the orbital parameters of the rescue satellite;

[0013] Determining a change in orbital inclination according to the orbital inclination of the faulty satellite and the orbital inclination of the rescue satellite;

[0014] Determining an initial orbital velocity of the rescue satellite according to the orbital parameters of the rescue satellite;

[0015] Calculating a velocity increment of the rescue satellite according to the orbital inclination change and the initial orbital velocity of the rescue satellite;

[0016] The orbital parameters of the rescue satellite are adjusted according to the speed increment, and the rescue satellite is controlled to share the same orbital plane with the faulty satellite.

[0017] In one embodiment, the step of controlling the rescue satellite to fly around the faulty satellite as the center according to the sun position information and / or the imaging parameters, and acquiring the fault information of the faulty satellite includes:

[0018] adjusting the relative phase relationship between the rescue satellite and the faulty satellite according to a preset orbital maneuvering strategy;

[0019] When the phase of the rescue satellite is synchronized with the phase of the faulty satellite, the rescue satellite is controlled to fly around the faulty satellite according to the sun position information and / or the imaging parameters, and the fault information of the faulty satellite is obtained.

[0020] In one embodiment, the step of adjusting the relative phase relationship between the rescue satellite and the faulty satellite according to a preset orbital maneuvering strategy includes:

[0021] Determining a preset value of a tangential velocity increment and a phase of the rescue satellite according to a preset orbital maneuvering strategy;

[0022] reducing the orbital semi-major axis of the rescue satellite according to the tangential velocity increment;

[0023] When the relative phase relationship between the rescue satellite and the faulty satellite reaches the preset phase value, the orbital semi-major axis of the rescue satellite is increased according to the tangential velocity increment, and the phase of the rescue satellite is controlled to be synchronized with the phase of the faulty satellite.

[0024] In one embodiment, the satellite positioning data includes the position information of the faulty satellite and the position information of the rescue satellite, the imaging parameters include the camera angular resolution and the maximum field of view angle, and the step of controlling the rescue satellite to fly around the faulty satellite as the center according to the sun position information and / or the imaging parameters when the phase of the rescue satellite is synchronized with the phase of the faulty satellite, and obtaining the fault information of the faulty satellite includes:

[0025] When the phase of the rescue satellite is synchronized with the phase of the faulty satellite, the solar illumination angle is calculated according to the solar position information, the position information of the faulty satellite and the position information of the rescue satellite;

[0026] Calculate the number of imaging pixels of the rescue satellite according to the pre-acquired characteristic size of the faulty satellite, the camera angular resolution, the position information of the faulty satellite and the position information of the rescue satellite;

[0027] Determining a relative distance constraint value between the faulty satellite and the rescue satellite according to the maximum field of view angle;

[0028] According to the solar illumination angle and / or the number of imaging pixels and / or the relative distance constraint value, the rescue satellite is controlled to fly around the faulty satellite as the center, and fault information of the faulty satellite is obtained.

[0029] In one embodiment, the step of calculating the number of imaging pixels of the rescue satellite based on the pre-acquired characteristic size of the faulty satellite, the camera angular resolution, the position information of the faulty satellite and the position information of the rescue satellite further includes:

[0030] Calculating an imaging distance according to the position information of the faulty satellite and the position information of the rescue satellite;

[0031] The number of imaging pixels of the rescue satellite is calculated based on the pre-acquired characteristic size of the faulty satellite, the imaging distance and the camera angular resolution.

[0032] In one embodiment, the step of controlling the rescue satellite to fly around the faulty satellite as the center and acquiring the fault information of the faulty satellite according to the sunlight angle and / or the number of imaging pixels and / or the relative distance constraint value includes:

[0033] Comparing the magnitude relationship between the solar illumination angle and a preset solar illumination angle constraint value;

[0034] If the solar illumination angle is greater than the solar illumination angle constraint value, adjusting the position of the rescue satellite; and / or

[0035] Comparing the size relationship between the imaging pixel number and a preset minimum pixel number;

[0036] If the number of imaging pixels is less than the minimum number of pixels, adjusting the position of the rescue satellite; and / or

[0037] Comparing the size relationship between the imaging distance and the relative distance constraint value;

[0038] If the imaging distance is greater than the relative distance constraint value, adjusting the position of the rescue satellite;

[0039] Based on the adjusted position of the rescue satellite, the rescue satellite is controlled to fly around the faulty satellite and the fault information of the faulty satellite is acquired.

[0040] In addition, to achieve the above-mentioned purpose, the present application also provides a satellite rescue device, the satellite rescue device comprising:

[0041] A position information acquisition module, used to acquire sun position information, satellite positioning data and imaging parameters of the optical payload carried by the rescue satellite, wherein the satellite positioning data includes orbital parameters of the faulty satellite and orbital parameters of the rescue satellite;

[0042] A first orbital parameter adjustment module, configured to adjust the orbital parameters of the rescue satellite according to the orbital parameters of the faulty satellite, so that the rescue satellite and the faulty satellite are in the same orbital plane;

[0043] A fault information acquisition module, used for controlling the rescue satellite to fly around the faulty satellite as the center according to the sun position information and / or the imaging parameters, and acquiring fault information of the faulty satellite;

[0044] a second orbital parameter adjustment module, configured to adjust the orbital parameters of the rescue satellite according to the orbital parameters of the faulty satellite, and control the rescue satellite to approach the faulty satellite until the relative positions of the faulty satellite and the rescue satellite reach a preset distance range;

[0045] The satellite fault repair module is used to repair the fault satellite within the distance range through the rescue satellite according to the fault information.

[0046] In addition, to achieve the above-mentioned purpose, the present application also proposes a satellite rescue device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the satellite rescue method described above.

[0047] In addition, to achieve the above-mentioned purpose, the present application also provides a storage medium, which is a computer-readable storage medium, and a program for implementing the satellite rescue method is stored on the computer-readable storage medium. The program for implementing the satellite rescue method is executed by a processor to implement the steps of the satellite rescue method as described above.

[0048] The present application provides a satellite rescue method, which obtains solar position information, satellite positioning data, and imaging parameters of the optical payload carried by the rescue satellite, and adjusts the orbital parameters of the rescue satellite according to the orbital parameters of the faulty satellite, so that the two are in the same orbital plane, so that the rescue satellite can approach the faulty satellite more effectively, reducing the additional maneuvering requirements caused by the difference in orbital planes, thereby saving fuel and time. After the same orbital plane, the rescue satellite is controlled to fly around according to the solar position information and / or imaging parameters, and the lighting conditions and imaging quality are fully considered. By intelligently adjusting the orbiting trajectory and attitude, the rescue satellite can obtain clear, multi-angle images of the faulty satellite, providing rich information for fault diagnosis. By accurately controlling the orbital parameters of the rescue satellite, it can efficiently approach the faulty satellite, ensuring the timeliness and effectiveness of the rescue operation. After approaching, the rescue satellite can directly perform repair operations based on the fault information, improving the efficiency and success rate of satellite rescue. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0050] In order to more clearly illustrate the embodiments of the present application 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, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0051] Figure 1 A schematic diagram of a process flow provided for the first embodiment of the satellite rescue method of the present application;

[0052] Figure 2 This is a flow chart of the satellite rescue method according to an embodiment of the present application;

[0053] Figure 3 This is a schematic diagram of a rescue satellite flying around a faulty satellite according to an embodiment of the present application;

[0054] Figure 4 This is a schematic diagram of the phase adjustment of the rescue satellite in the embodiment of the present application;

[0055] Figure 5 This is a schematic diagram of the first solar illumination angle of the embodiment of the present application;

[0056] Figure 6 This is a schematic diagram of the second solar illumination angle of the embodiment of the present application;

[0057] Figure 7 A schematic diagram of the effective load range of the optical payload carried by the rescue satellite in the embodiment of the present application;

[0058] Figure 8 This is a schematic diagram of the module structure of the satellite rescue device according to an embodiment of the present application;

[0059] Fig. 9 This is a schematic diagram of the device structure of the hardware operating environment involved in the satellite rescue method in the embodiment of the present application.

[0060] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0061] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0062] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0063] The main solution of the present application is: obtaining solar position information, satellite positioning data and imaging parameters of the optical payload carried by the rescue satellite, the satellite positioning data including the orbital parameters of the faulty satellite and the orbital parameters of the rescue satellite; adjusting the orbital parameters of the rescue satellite according to the orbital parameters of the faulty satellite so that the rescue satellite and the faulty satellite share the same orbital plane; controlling the rescue satellite to fly around the faulty satellite as the center according to the solar position information and / or the imaging parameters, and obtaining fault information of the faulty satellite; adjusting the orbital parameters of the rescue satellite according to the orbital parameters of the faulty satellite, and controlling the rescue satellite to approach the faulty satellite until the relative positions of the faulty satellite and the rescue satellite reach a preset distance range; within the distance range, repairing the faulty satellite according to the fault information by the rescue satellite.

[0064] Both the faulty satellite and the rescue satellite are located at different longitudes near the geosynchronous orbit. Due to unknown reasons, the equipment on the faulty satellite cannot work properly, and it is necessary to locate the fault and implement repairs. The rescue satellite has optical payloads and repair capabilities, and can approach the faulty satellite through orbital maneuvers to carry out photo imaging, fault location and rescue missions. The rescue satellite first plans the relative approach path based on the satellite's status information and relative position status information, taking into account constraints such as fuel consumption, mission time, relative distance and sunlight angle, so that the rescue satellite can approach, fly around, perform optical imaging and rescue missions on the damaged satellite at a relatively low cost.

[0065] Reference Figure 2 For satellites with functional problems (faulty satellites) that need to be rescued in geosynchronous orbit, rescue satellites implement rescue according to the steps of remote adjustment, planned approach, flyby observation and close rendezvous. In the remote adjustment stage, the rescue satellite obtains the relative motion state information of the satellite based on its own GNSS (Global Navigation Satellite System) data, and adjusts the orbital plane through orbital maneuvers to make the rescue satellite coplanar with the faulty satellite; in the planned approach stage, the rescue satellite adjusts the relative orbital position through orbital maneuvers to achieve fixed-point residence on the faulty satellite; in the flyby stage, the rescue satellite implements orbital maneuvers at the right time to achieve flyby of the rescue satellite in the direction of the light, and takes images of the faulty satellite based on the optical payload on the satellite to locate the faulty components of the faulty satellite at close range; in the close rendezvous stage, the rescue satellite approaches the faulty satellite at close range to carry out the rescue mission. In the rescue process, the rescue satellite needs to consider constraints such as fuel consumption, mission time, solar illumination angle, and relative distance to coordinate the planning of relative approach paths and rescue strategies to improve the efficiency and success rate of satellite rescue.

[0066] This application obtains the solar position information, satellite positioning data and the imaging parameters of the optical payload carried by the rescue satellite, and adjusts the orbital parameters of the rescue satellite according to the orbital parameters of the faulty satellite, so that the two are in the same orbital plane, so that the rescue satellite can approach the faulty satellite more effectively, reducing the additional maneuvering requirements caused by the difference in orbital planes, thereby saving fuel and time. After sharing the same orbital plane, the rescue satellite is controlled to fly around according to the solar position information and / or imaging parameters, and the lighting conditions and imaging quality are fully considered. By intelligently adjusting the orbiting trajectory and attitude, the rescue satellite can obtain clear, multi-angle images of the faulty satellite, providing rich information for fault diagnosis. By precisely controlling the orbital parameters of the rescue satellite, it can efficiently approach the faulty satellite, ensuring the timeliness and effectiveness of the rescue operation. After approaching, the rescue satellite can directly perform repair operations based on the fault information, improving the efficiency and success rate of satellite rescue.

[0067] It should be noted that the execution subject of this embodiment may be a satellite rescue system, or a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or a satellite rescue device capable of realizing the above functions, etc., and this embodiment does not specifically limit this. The following takes the satellite rescue system as an example of the execution subject to illustrate this embodiment and the following embodiments.

[0068] Based on this, this application proposes a satellite rescue method of the first embodiment, please refer to Figure 1 The satellite rescue method is applied to a satellite rescue system, the satellite rescue system includes a faulty satellite and a rescue satellite, and the satellite rescue method includes steps S10 to S50:

[0069] Step S10, acquiring sun position information, satellite positioning data and imaging parameters of the optical payload carried by the rescue satellite, wherein the satellite positioning data includes orbital parameters of the faulty satellite and orbital parameters of the rescue satellite;

[0070] It should be noted that since the position of the sun will directly affect the satellite's lighting conditions, thermal environment and imaging quality of the optical payload, it is necessary to obtain the sun's position information, which can be achieved through astronomical algorithms or querying relevant databases. These algorithms and databases will calculate the exact position of the sun based on the date, time and geographical location of the observation point.

[0071] Satellite positioning data can be obtained through the satellite's own GNSS (Global Navigation Satellite System), including the orbital parameters and position information of the faulty satellite and the rescue satellite. The orbital parameters of the faulty satellite and the rescue satellite may include the semi-major axis, eccentricity, orbital inclination, right ascension of the ascending node, argument of perigee and true anomaly, etc. The position information may include the three-dimensional coordinate position of the faulty satellite and the rescue satellite in space.

[0072] Optical payloads are important equipment for observation and imaging on rescue satellites, and their imaging parameters are crucial for obtaining high-quality image data. Imaging parameters may include camera resolution, maximum field of view, focal length, aperture, or exposure time.

[0073] Step S20, adjusting the orbital parameters of the rescue satellite according to the orbital parameters of the faulty satellite, so that the rescue satellite and the faulty satellite share the same orbital plane;

[0074] It should be noted that although the rescue satellite and the faulty satellite are both located near the geosynchronous orbit, the two satellites are located above different longitudes, so the rescue satellite needs to perform orbital maneuvers to adjust the relative position relationship with the faulty satellite and gradually approach the faulty satellite. Satellite orbital maneuvers need to consume their own fuel to achieve the purpose of orbit change, and fuel is an important factor affecting the satellite's on-orbit life. It is necessary to complete the corresponding approach mission at the smallest possible cost, that is, consume as little fuel as possible.

[0075] During the remote adjustment phase, the main goal is to adjust the relative motion trend between the rescue satellite and the faulty satellite to meet the mission time constraints. When two geosynchronous orbit satellites are not in the same orbital plane, the rescue satellite and the faulty satellite will have two time windows in the same orbital plane every day. If the orbital inclination is not adjusted, these time windows are very short and the imaging quality is difficult to guarantee. Therefore, by adjusting the orbital plane of the rescue satellite, the constraint of not being in the same orbital plane can be eliminated, ensuring high-quality optical imaging for a longer period of time. The orbital plane of the rescue satellite is adjusted to be in the same orbital plane as the faulty satellite by obtaining the satellite's in-orbit motion status information through the global navigation satellite system equipment, and the orbital plane of the rescue satellite is adjusted to be in the same orbital plane as the faulty satellite. This is mainly achieved by adjusting the orbital inclination. For geosynchronous orbit satellites, due to the small eccentricity, it is usually only necessary to adjust the orbital inclination. After the rescue satellite and the faulty satellite are in the same orbital plane, the time window of the rescue satellite's optical imaging can be expanded, and the imaging quality and mission flexibility can be improved.

[0076] Step S30, controlling the rescue satellite to fly around the faulty satellite according to the sun position information and / or the imaging parameters, and acquiring fault information of the faulty satellite;

[0077] It should be noted that after the rescue satellite and the faulty satellite enter the same orbital plane, in order to quickly and effectively troubleshoot the fault, the orbit control task in the approach phase needs to be carefully planned. This process needs to take into account the relative phase and approach speed between the two. By adjusting the semi-major axis of the rescue satellite, it is controlled to approach the faulty satellite at an appropriate speed. When time is tight, a large adjustment of the semi-major axis is used to accelerate the approach, but more fuel will be sacrificed; if time is sufficient, a small adjustment can be selected to reduce fuel consumption. When the phase of the rescue satellite and the faulty satellite is synchronized, the flyby phase is entered. The rescue satellite needs to adjust the attitude of the optical payload to achieve a light-flying orbit with the faulty satellite as the center to ensure the imaging quality. By setting an elliptical flyby orbit (about 1 day) similar to the earth's rotation period of the faulty satellite, the rescue satellite uses a high-precision attitude control system to keep the optical payload always aligned with the faulty satellite and perform multi-angle imaging to comprehensively collect fault information, laying a solid foundation for subsequent diagnosis and repair work.

[0078] Step S40, adjusting the orbital parameters of the rescue satellite according to the orbital parameters of the faulty satellite, and controlling the rescue satellite to approach the faulty satellite until the relative positions of the faulty satellite and the rescue satellite reach a preset distance range;

[0079] It should be noted that during the close rendezvous phase, the main task of the rescue satellite is to approach the faulty satellite at close range so as to use the fault repair payload it carries to repair the faulty satellite. The rescue satellite first needs to make precise orbit adjustments based on the orbital parameters of the faulty satellite. This includes adjusting the speed, altitude, phase, etc. to ensure that it can gradually approach the faulty satellite until the relative positions of the faulty satellite and the rescue satellite reach a preset distance range. The preset distance range can be set according to satellite performance, space environment, or actual satellite rescue mission requirements. During the approach process, the rescue satellite needs to maintain a stable attitude and orbit control to cope with the complex environment and possible interference factors in space. Through a high-precision navigation and positioning system, the rescue satellite can obtain the precise position information of itself and the faulty satellite in real time to ensure that there will be no collision or deviation from the predetermined orbit during the rendezvous process.

[0080] Step S50: within the distance range, repair the faulty satellite by using the rescue satellite according to the fault information.

[0081] It should be noted that the fault repair payload carried by the rescue satellite may include various special tools and equipment, such as robotic arms, repair robots, spare parts replacement devices, etc. After the rescue satellite approaches the faulty satellite and reaches the preset distance range, the rescue satellite will first use the fault diagnosis system on board to conduct a comprehensive detection and diagnosis of the faulty satellite. Based on the fault information obtained during the flyby phase, the rescue satellite will use the fault repair payload to repair the faulty satellite and complete the satellite rescue mission.

[0082] The present application provides a satellite rescue method, which obtains solar position information, satellite positioning data, and imaging parameters of the optical payload carried by the rescue satellite, and adjusts the orbital parameters of the rescue satellite according to the orbital parameters of the faulty satellite, so that the two are in the same orbital plane, so that the rescue satellite can approach the faulty satellite more effectively, reducing the additional maneuvering requirements caused by the difference in orbital planes, thereby saving fuel and time. After the same orbital plane, the rescue satellite is controlled to fly around according to the solar position information and / or imaging parameters, and the lighting conditions and imaging quality are fully considered. By intelligently adjusting the orbiting trajectory and attitude, the rescue satellite can obtain clear, multi-angle images of the faulty satellite, providing rich information for fault diagnosis. By accurately controlling the orbital parameters of the rescue satellite, it can efficiently approach the faulty satellite, ensuring the timeliness and effectiveness of the rescue operation. After approaching, the rescue satellite can directly perform repair operations based on the fault information, improving the efficiency and success rate of satellite rescue.

[0083] In a feasible implementation, step S20 may include steps S201 to S205:

[0084] Step S201, determining the orbital inclination of the faulty satellite and the orbital inclination of the rescue satellite according to the orbital parameters of the faulty satellite and the orbital parameters of the rescue satellite;

[0085] Step S202, determining an orbital inclination change amount according to the orbital inclination of the faulty satellite and the orbital inclination of the rescue satellite;

[0086] Step S203, determining the initial orbital velocity of the rescue satellite according to the orbital parameters of the rescue satellite;

[0087] Step S204, calculating the speed increment of the rescue satellite according to the orbital inclination change and the initial orbital speed of the rescue satellite;

[0088] Step S205, adjusting the orbital parameters of the rescue satellite according to the speed increment, and controlling the rescue satellite to share the same orbital plane with the faulty satellite.

[0089] It should be noted that during the remote adjustment phase, the main task is to adjust the relative motion trend between the rescue satellite and the faulty satellite, obtain the satellite's on-orbit motion status information based on the global navigation satellite system equipment on board the satellite, and adjust the semi-major axis of the rescue satellite orbit so that the relative motion trend between the rescue satellite and the faulty satellite can meet the mission time constraints. The relationship between the semi-major axis of the orbit and the orbit period is:

[0090]

[0091] In the above formula, T is the orbital period, μ is the Earth's gravitational constant, and a is the semi-major axis of the satellite orbit.

[0092] Another task in the remote adjustment phase is to adjust the orbital plane of the rescue satellite so that the rescue satellite and the faulty satellite are located in the same orbital plane. The orbital plane adjustment involves adjusting the two orbital elements of the orbital inclination i and the right ascension Ω of the ascending node. However, for geosynchronous orbit satellites with a small eccentricity e, generally only the orbital inclination i is adjusted. The speed increment required to adjust the orbital inclination is:

[0093]

[0094] In the above formula, Δv is the velocity increment, v 初始 is the initial orbital velocity, Δθ is the change in orbital inclination, which is determined by the difference in orbital inclination between the faulty satellite and the rescue satellite.

[0095] Compared with orbital maneuvers within the orbital plane, changing the orbital inclination requires a larger velocity increment, which comes at the expense of consuming a large amount of fuel.

[0096] If two satellites near the geosynchronous orbit belt are not in the same orbital plane, there will be two time windows for the two satellites to be in the same orbital plane in each cycle. The general period of satellites near the geosynchronous orbital belt is similar to the rotation of the earth in the later period, that is, about 1 day. In fact, there are two opportunities for the two satellites to be in the same orbital plane every day, that is, the daily window exists twice a day. If the orbital inclination is not adjusted, it is necessary to calculate the time when the two satellites are in the same orbital plane, and use this time as the time window for optical imaging. The time window is very short and it is difficult to guarantee the imaging quality. In order to extend the duration of the optical imaging window, the orbital plane of the rescue satellite is usually adjusted, and the rescue satellite is used to be in the same orbital plane with the faulty satellite, that is, to eliminate the influence of the constraint of not being in the same orbital plane.

[0097] In this embodiment, according to the orbital inclination of the faulty satellite and the rescue satellite, the relative position relationship between the two in space can be accurately understood, and then the change in orbital inclination can be determined. The required velocity increment can be accurately calculated using the initial orbital velocity information of the rescue satellite, combined with the necessary orbital inclination change. This helps the rescue satellite to achieve the predetermined orbit adjustment target while minimizing the waste of propulsion system resources when performing orbit change operations, thereby improving the efficiency of satellite rescue. Placing the rescue satellite on the same orbital plane as the faulty satellite can reduce the difficulty of subsequent satellite docking or close-range fault repair operations, improve the mission success rate of satellite rescue, and reduce the risk of collision that may be caused by position errors, thereby ensuring the safety of the satellite and its operation.

[0098] In a feasible implementation, step S30 may include steps S301 to S302:

[0099] Step S301, adjusting the relative phase relationship between the rescue satellite and the faulty satellite according to a preset orbital maneuvering strategy;

[0100] Step S302, when the phase of the rescue satellite is synchronized with the phase of the faulty satellite, the rescue satellite is controlled to fly around the faulty satellite according to the solar position information and / or the imaging parameters, and the fault information of the faulty satellite is obtained.

[0101] It should be noted that after the rescue satellite and the faulty satellite are in the same orbital plane, adjustments are made during the planning of the approach phase. Since satellite rescue has certain time requirements, that is, the rescue satellite needs to arrive near the faulty satellite within the specified time to locate and troubleshoot the fault. Therefore, the rescue satellite needs to consider the relative phase relationship and relative approach speed between the rescue satellite and the faulty satellite during the orbit control mission planning process. The relative phase relationship between the rescue satellite and the faulty satellite is adjusted so that the rescue satellite approaches the stationing point near the faulty satellite.

[0102] The relative approach speed is usually related to the semi-major axis of the satellite. If the semi-major axis of the satellite is smaller than the semi-major axis of the geosynchronous orbit satellite, the satellite has a tendency to "drift eastward" relative to the earth. If the semi-major axis of the satellite is larger than the semi-major axis of the geosynchronous orbit satellite, the satellite has a tendency to "drift westward" relative to the earth. Therefore, it is necessary to adjust the semi-major axis of the rescue satellite to make it continuously "drift" near the damaged satellite.

[0103] The size of the semi-major axis of the rescue satellite relative to the faulty satellite determines the relative speed of approach. When the rescue mission is time-sensitive, it is necessary to adjust the size of the semi-major axis of the rescue satellite relative to the damaged satellite as much as possible to speed up the relative approach speed. A larger semi-major axis adjustment requires a larger speed increment, which is accompanied by a larger fuel consumption of the rescue satellite. When the rescue mission has a lower time constraint, the size of the semi-major axis can be adjusted slightly to make the rescue satellite "drift" near the faulty satellite at a smaller relative speed.

[0104] When the phase of the rescue satellite is synchronized with the phase of the faulty satellite, the fly-by phase is controlled to control the rescue satellite to adjust the attitude of the optical payload and complete the position adjustment of the fly-by along the light, for example Figure 3 shown.

[0105] After the rescue satellite completes the fixed-point stay on the faulty satellite, it completes the elliptical orbit around the faulty satellite by adjusting the speed increment of the rescue satellite. The period of the orbiting ellipse is the same as the period of the faulty satellite's rotation around the earth, which is approximately equal to 1 day. The rescue satellite is equipped with optical payloads (such as cameras, telescopes, etc.) for imaging the faulty satellite. These optical payloads need to be precisely aligned with the faulty satellite to ensure the clarity and accuracy of the imaging. In order to ensure that the optical payload always points to the faulty satellite, and the imaging effect of the rescue satellite is affected by the position of the sun, the rescue satellite needs to perform complex attitude control. Attitude control refers to maintaining or changing the direction of the satellite by adjusting its attitude. The attitude control system of the rescue satellite will continuously adjust its attitude to ensure that the line of sight of the optical payload is always aligned with the faulty satellite.

[0106] Since the rescue satellite flies around the faulty satellite in an elliptical orbit, its position relative to the faulty satellite will keep changing. By adjusting the focal length, exposure time and other parameters of the optical payload, combined with the orbital parameters and attitude information of the rescue satellite, it is possible to achieve multi-angle imaging of the faulty satellite during the flyby, which helps to obtain all-round information about the faulty satellite and provide an important basis for subsequent fault diagnosis and repair work.

[0107] Further, step S301 may include steps S3011 to S3013:

[0108] Step S3011, determining a preset value of a tangential velocity increment and a phase of the rescue satellite according to a preset orbital maneuvering strategy;

[0109] Step S3012, reducing the orbital semi-major axis of the rescue satellite according to the tangential velocity increment;

[0110] Step S3013, when the relative phase relationship between the rescue satellite and the faulty satellite reaches the preset phase value, the orbital semi-major axis of the rescue satellite is increased according to the tangential velocity increment, and the phase of the rescue satellite is controlled to be synchronized with the phase of the faulty satellite.

[0111] It should be noted that the relative position relationship between the rescue satellite and the faulty satellite is adjusted so that the rescue satellite approaches the stationary point near the faulty satellite. Since the orbital angular velocity n of the geosynchronous orbit satellite is only related to the semi-major axis a of the orbit, that is:

[0112]

[0113] In the above formula, μ is the gravitational constant of the Earth, n is the angular velocity, and a is the semi-major axis of the orbit.

[0114] Lowering the orbital semi-major axis can increase the orbital angular velocity, and increasing the orbital semi-major axis can reduce the orbital angular velocity. In order to change the orbital semi-major axis of the satellite with maximum efficiency, the tangential velocity increment is usually used to change the orbital semi-major axis. The preset orbital maneuver strategy for the approach phase is planned, such as Figure 4 As shown in the figure, the rescue satellite adjusts the relative phase relationship with the faulty satellite by lowering or raising the semi-major axis, and the semi-major axis is adjusted from a0 to a1 and then to a0 through two tangential velocity increments of Δv1 and Δv2. After the phase adjustment, the phase of the rescue satellite is synchronized with the phase of the faulty satellite, and the semi-major axes of the two satellites are the same and are in a relatively static state.

[0115] After the rescue satellite and the faulty satellite share the same orbital plane, that is, the orbital inclinations of the two satellites are the same, the rescue satellite only needs to perform in-orbit maneuvers to achieve relative approach motion path planning. When implementing in-orbit maneuvers, tangential velocity increments are generally used for control instead of radial velocity increments. This is because tangential velocity increments are the fastest way to increase the mechanical energy of the rescue satellite:

[0116]

[0117] In the above formula, ξ 变轨后 is the mechanical energy after the track change, ξ 变轨前 is the mechanical energy before orbit change, v is the initial orbital velocity of the satellite, and Δv is the tangential orbital velocity increment.

[0118] It can be seen from the above formula that if the speed increment direction of the rescue satellite's orbit change is tangent to the satellite's speed direction, then the unit speed increment will cause the maximum change in mechanical energy, that is, the tangential speed increment will cause the satellite's mechanical energy to change the fastest; if the speed increment direction of the rescue satellite is perpendicular to the satellite's speed direction, then the unit speed increment will not cause the mechanical energy to change, that is, the radial speed increment will not cause the satellite's mechanical energy to change. The mechanical energy of the satellite is closely related to the semi-major axis and mechanical energy of the satellite. The tangential speed increment can change the relative motion position relationship of the satellite with the minimum efficiency, and the radial speed increment is usually used to adjust the phase relationship of the satellite.

[0119] Furthermore, the satellite positioning data includes the position information of the faulty satellite and the position information of the rescue satellite, and the imaging parameters include the camera angular resolution and the maximum field of view. Step S302 may include steps S3021 to S3024:

[0120] Step S3021, when the phase of the rescue satellite is synchronized with the phase of the faulty satellite, the solar illumination angle is calculated according to the solar position information, the position information of the faulty satellite and the position information of the rescue satellite;

[0121] Step S3022, calculating the number of imaging pixels of the rescue satellite according to the pre-acquired characteristic size of the faulty satellite, the camera angular resolution, the position information of the faulty satellite and the position information of the rescue satellite;

[0122] Step S3023, determining a relative distance constraint value between the faulty satellite and the rescue satellite according to the maximum field of view angle;

[0123] Step S3024, according to the solar illumination angle and / or the number of imaging pixels and / or the relative distance constraint value, control the rescue satellite to fly around the faulty satellite as the center, and obtain the fault information of the faulty satellite.

[0124] It should be noted that the rescue satellite carries an optical imaging payload. The rescue satellite flies around the faulty satellite and simultaneously performs optical imaging of the faulty satellite. It needs to meet certain solar illumination angle constraints to achieve imaging of the faulty satellite. The solar illumination angle is the angle formed by the rescue satellite, the faulty satellite and the sun. Figure 5 and Figure 6 shown.

[0125] In addition to being affected by the angle of sunlight, the imaging quality is also affected by the relative distance between the faulty satellite and the rescue satellite. The precise position information of the faulty satellite and the rescue satellite is obtained, and their coordinates in three-dimensional space are determined respectively. The straight-line distance between the faulty satellite and the rescue satellite, i.e. the imaging distance, is calculated. The number of imaging pixels can be calculated based on the imaging distance to evaluate the imaging clarity of the rescue satellite.

[0126] The effective load of the optical payload carried by the rescue satellite is also constrained by the field of view of the device itself. Figure 7 , the shape of the light cone is the maximum field angle θ max The payload range is 5°, and the rescue satellite can only image the range within the light cone. It is necessary to ensure that the faulty satellite is within the light cone to have imaging conditions. Therefore, according to the maximum field of view, the relative distance constraint value between the faulty satellite and the rescue satellite can be determined. According to the imaging results of the faulty satellite, image analysis and fault confirmation are performed on the imaging results of the faulty satellite to obtain the fault information of the faulty satellite.

[0127] Further, step S3022 may include steps S30221 to S30222:

[0128] Step S30221, calculating the imaging distance according to the position information of the faulty satellite and the position information of the rescue satellite;

[0129] Step S30222, calculating the number of imaging pixels of the rescue satellite according to the pre-acquired characteristic size of the faulty satellite, the imaging distance and the camera angular resolution.

[0130] It should be noted that the imaging distance is the straight-line distance between the faulty satellite and the rescue satellite. The coordinate point of the faulty satellite is determined based on the position information of the faulty satellite, and the coordinate point of the rescue satellite is determined based on the position information of the rescue satellite. The imaging distance is calculated using the distance formula between two points in three-dimensional space.

[0131] The calculation method of the number of imaging pixels of the rescue satellite is shown in the following formula:

[0132]

[0133] Where N is the number of imaging pixels of the rescue satellite. The number of imaging pixels can reflect the clarity of the rescue satellite's imaging of the faulty satellite.

[0134] Further, step S3024 may include steps S30241 to S30246:

[0135] Step S30241, comparing the solar illumination angle with a preset solar illumination angle constraint value;

[0136] Step S30242: if the solar illumination angle is greater than the solar illumination angle constraint value, adjusting the position of the rescue satellite; and / or

[0137] Step S30243, comparing the number of imaging pixels with a preset minimum number of pixels;

[0138] Step S30244: if the number of imaging pixels is less than the minimum number of pixels, adjusting the position of the rescue satellite; and / or

[0139] Step S30245, comparing the magnitude relationship between the imaging distance and the relative distance constraint value;

[0140] Step S30245: if the imaging distance is greater than the relative distance constraint value, adjusting the position of the rescue satellite;

[0141] Step S30246, based on the adjusted position of the rescue satellite, control the rescue satellite to fly around the faulty satellite and obtain fault information of the faulty satellite.

[0142] It should be noted that the solar angle constraint value can be set to 90°, refer to Figure 5 When the sunlight angle is greater than 90°, the rescue satellite will be affected by the strong sunlight when performing optical imaging on the faulty satellite, making it impossible to perform optical imaging; Figure 6 When the solar illumination angle is less than 90°, the rescue satellite can meet the optical imaging conditions when performing optical imaging on the faulty satellite, and can implement optical photography and imaging of specific components of the faulty satellite. When the solar illumination angle is greater than the solar illumination angle constraint value, the position or attitude of the rescue satellite is adjusted to make the solar illumination angle less than the solar illumination angle constraint value, ensuring that the rescue satellite can perform optical imaging on the faulty satellite.

[0143] Preferably, the preset minimum number of pixels can be set to 50, and a clear fault satellite imaging result can be obtained when N ≥ 50. Alternatively, the imaging clarity requirement can be determined according to the actual observation accuracy requirement, and the preset minimum number of pixels can be set accordingly. If the number of imaging pixels is less than the minimum number of pixels, the position of the rescue satellite is adjusted to adjust the imaging distance to obtain a clear fault satellite imaging result.

[0144] The effective load of the optical payload carried by the rescue satellite is also constrained by the field of view of the device itself. According to the maximum field of view, the relative distance constraint value between the faulty satellite and the rescue satellite can be determined. Figure 7 , maximum viewing angle θ max The relative distance constraint value L is 5° max The imaging distance between the faulty satellite and the rescue satellite must be less than the relative distance constraint value. If the imaging distance is greater than the relative distance constraint value, the position of the rescue satellite is adjusted to adjust the imaging distance and obtain a clear imaging result of the faulty satellite.

[0145] The present application also provides a satellite rescue device. Figure 8 , the satellite rescue device comprises:

[0146] A position information acquisition module 10, used to acquire sun position information, satellite positioning data and imaging parameters of the optical payload carried by the rescue satellite, wherein the satellite positioning data includes orbital parameters of the faulty satellite and orbital parameters of the rescue satellite;

[0147] A first orbital parameter adjustment module 20, configured to adjust the orbital parameters of the rescue satellite according to the orbital parameters of the faulty satellite, so that the rescue satellite and the faulty satellite are in the same orbital plane;

[0148] A fault information acquisition module 30 is used to control the rescue satellite to fly around the faulty satellite according to the sun position information and / or the imaging parameters, and to acquire fault information of the faulty satellite;

[0149] A second orbit parameter adjustment module 40, configured to adjust the orbit parameter of the rescue satellite according to the orbit parameter of the faulty satellite, and control the rescue satellite to approach the faulty satellite until the relative positions of the faulty satellite and the rescue satellite reach a preset distance range;

[0150] The satellite fault repair module 50 is used to repair the fault satellite within the distance range through the rescue satellite according to the fault information.

[0151] The satellite rescue device provided in the embodiment of the present application adopts the satellite rescue method in the above embodiment, which can solve the technical problems of low efficiency and success rate of satellite rescue. Compared with the prior art, the beneficial effects of the satellite rescue device provided in the embodiment of the present application are the same as the beneficial effects of the satellite rescue method provided in the above embodiment, and other technical features in the satellite rescue device are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0152] The present application provides a satellite rescue device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the satellite rescue method in the above-mentioned embodiment one.

[0153] Reference below Fig. 9 , which shows a schematic diagram of the structure of a satellite rescue device suitable for implementing the embodiment of the present application. The satellite rescue device in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Fig. 9 The satellite rescue equipment shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0154] like Fig. 9 As shown, the satellite rescue equipment may include a processing device 1001 (e.g., a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the satellite rescue equipment are also stored. The processing device 1001, ROM1002, and RAM1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems can be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touch pad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the satellite rescue device to communicate with other devices wirelessly or by wire to exchange data. Although the satellite rescue device with various systems is shown in the figure, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems can be implemented or have alternatively.

[0155] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0156] The satellite rescue device provided by the present application adopts the satellite rescue method in the above embodiment to solve the technical problems of satellite rescue. Compared with the prior art, the beneficial effects of the satellite rescue device provided by the present application are the same as the beneficial effects of the satellite rescue method provided by the above embodiment, and the other technical features in the satellite rescue device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0157] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0158] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0159] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the satellite rescue method in the above-mentioned embodiment.

[0160] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0161] The computer-readable storage medium may be included in the satellite rescue device; or may exist independently without being assembled into the satellite rescue device.

[0162] The above-mentioned computer-readable storage medium carries one or more programs. When the above-mentioned one or more programs are executed by the satellite rescue equipment, the satellite rescue equipment: obtains solar position information, satellite positioning data and imaging parameters of the optical payload carried by the rescue satellite, the satellite positioning data including the orbital parameters of the faulty satellite and the orbital parameters of the rescue satellite; adjusts the orbital parameters of the rescue satellite according to the orbital parameters of the faulty satellite so that the rescue satellite and the faulty satellite share the same orbital plane; controls the rescue satellite to fly around the faulty satellite as the center according to the solar position information and / or the imaging parameters, and obtains the fault information of the faulty satellite; adjusts the orbital parameters of the rescue satellite according to the orbital parameters of the faulty satellite, and controls the rescue satellite to approach the faulty satellite until the relative positions of the faulty satellite and the rescue satellite reach a preset distance range; within the distance range, repairs the faulty satellite according to the fault information through the rescue satellite.

[0163] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0164] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0165] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0166] The readable storage medium provided by the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned satellite rescue method, and can solve the technical problems of low efficiency and success rate of satellite rescue. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the present application are the same as the beneficial effects of the satellite rescue method provided by the above-mentioned embodiment, and will not be repeated here.

[0167] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent processing scope of the present application.

Claims

1. A satellite rescue method, characterized in that: The satellite rescue method is applied to a satellite rescue system, the satellite rescue system includes a faulty satellite and a rescue satellite, and the satellite rescue method includes: Acquiring sun position information, satellite positioning data, and imaging parameters of an optical payload carried by the rescue satellite, wherein the satellite positioning data includes orbital parameters of the faulty satellite and orbital parameters of the rescue satellite; Adjusting the orbital parameters of the rescue satellite according to the orbital parameters of the faulty satellite so that the rescue satellite and the faulty satellite share the same orbital plane; Controlling the rescue satellite to fly around the faulty satellite according to the sun position information and / or the imaging parameters, and acquiring fault information of the faulty satellite; adjusting the orbital parameters of the rescue satellite according to the orbital parameters of the faulty satellite, and controlling the rescue satellite to approach the faulty satellite until the relative positions of the faulty satellite and the rescue satellite reach a preset distance range; Within the distance range, the faulty satellite is repaired according to the fault information by the rescue satellite.

2. The method according to claim 1, characterized in that The step of adjusting the orbital parameters of the rescue satellite according to the orbital parameters of the faulty satellite so that the rescue satellite and the faulty satellite are in the same orbital plane comprises: Determining the orbital inclination of the faulty satellite and the orbital inclination of the rescue satellite according to the orbital parameters of the faulty satellite and the orbital parameters of the rescue satellite; Determining a change in orbital inclination according to the orbital inclination of the faulty satellite and the orbital inclination of the rescue satellite; Determining an initial orbital velocity of the rescue satellite according to the orbital parameters of the rescue satellite; Calculating a velocity increment of the rescue satellite according to the orbital inclination change and the initial orbital velocity of the rescue satellite; The orbital parameters of the rescue satellite are adjusted according to the speed increment, and the rescue satellite is controlled to share the same orbital plane with the faulty satellite.

3. The method according to claim 1, characterized in that The step of controlling the rescue satellite to fly around the faulty satellite as the center according to the sun position information and / or the imaging parameters, and acquiring the fault information of the faulty satellite comprises: adjusting the relative phase relationship between the rescue satellite and the faulty satellite according to a preset orbital maneuvering strategy; When the phase of the rescue satellite is synchronized with the phase of the faulty satellite, the rescue satellite is controlled to fly around the faulty satellite according to the sun position information and / or the imaging parameters, and the fault information of the faulty satellite is obtained.

4. The method according to claim 3, characterized in that The step of adjusting the relative phase relationship between the rescue satellite and the faulty satellite according to a preset orbital maneuvering strategy comprises: Determining a preset value of a tangential velocity increment and a phase of the rescue satellite according to a preset orbital maneuvering strategy; reducing the orbital semi-major axis of the rescue satellite according to the tangential velocity increment; When the relative phase relationship between the rescue satellite and the faulty satellite reaches the preset phase value, the orbital semi-major axis of the rescue satellite is increased according to the tangential velocity increment, and the phase of the rescue satellite is controlled to be synchronized with the phase of the faulty satellite.

5. The method according to claim 3, characterized in that The satellite positioning data includes the position information of the faulty satellite and the position information of the rescue satellite, the imaging parameters include the camera angular resolution and the maximum field of view angle, and the step of controlling the rescue satellite to fly around the faulty satellite as the center according to the sun position information and / or the imaging parameters when the phase of the rescue satellite is synchronized with the phase of the faulty satellite, and acquiring the fault information of the faulty satellite comprises: When the phase of the rescue satellite is synchronized with the phase of the faulty satellite, the solar illumination angle is calculated according to the solar position information, the position information of the faulty satellite and the position information of the rescue satellite; Calculate the number of imaging pixels of the rescue satellite according to the pre-acquired characteristic size of the faulty satellite, the camera angular resolution, the position information of the faulty satellite and the position information of the rescue satellite; Determining a relative distance constraint value between the faulty satellite and the rescue satellite according to the maximum field of view angle; According to the solar illumination angle and / or the number of imaging pixels and / or the relative distance constraint value, the rescue satellite is controlled to fly around the faulty satellite as the center, and fault information of the faulty satellite is obtained.

6. The method according to claim 5, characterized in that The step of calculating the number of imaging pixels of the rescue satellite according to the pre-acquired characteristic size of the faulty satellite, the camera angular resolution, the position information of the faulty satellite and the position information of the rescue satellite also includes: Calculating an imaging distance according to the position information of the faulty satellite and the position information of the rescue satellite; The number of imaging pixels of the rescue satellite is calculated based on the pre-acquired characteristic size of the faulty satellite, the imaging distance and the camera angular resolution.

7. The method according to claim 6, characterized in that The step of controlling the rescue satellite to fly around the faulty satellite as the center according to the sunlight angle and / or the number of imaging pixels and / or the relative distance constraint value, and acquiring the fault information of the faulty satellite comprises: Comparing the magnitude relationship between the solar illumination angle and a preset solar illumination angle constraint value; If the solar illumination angle is greater than the solar illumination angle constraint value, adjusting the position of the rescue satellite; and / or Comparing the size relationship between the imaging pixel number and a preset minimum pixel number; If the number of imaging pixels is less than the minimum number of pixels, adjusting the position of the rescue satellite; and / or Comparing the size relationship between the imaging distance and the relative distance constraint value; If the imaging distance is greater than the relative distance constraint value, adjusting the position of the rescue satellite; Based on the adjusted position of the rescue satellite, the rescue satellite is controlled to fly around the faulty satellite and the fault information of the faulty satellite is acquired.

8. A satellite rescue device, characterized in that: The satellite rescue device comprises: A position information acquisition module, used to acquire sun position information, satellite positioning data and imaging parameters of the optical payload carried by the rescue satellite, wherein the satellite positioning data includes orbital parameters of the faulty satellite and orbital parameters of the rescue satellite; A first orbital parameter adjustment module, configured to adjust the orbital parameters of the rescue satellite according to the orbital parameters of the faulty satellite, so that the rescue satellite and the faulty satellite are in the same orbital plane; A fault information acquisition module, used to control the rescue satellite to fly around the faulty satellite according to the sun position information and / or the imaging parameters, and to acquire fault information of the faulty satellite; a second orbital parameter adjustment module, configured to adjust the orbital parameters of the rescue satellite according to the orbital parameters of the faulty satellite, and control the rescue satellite to approach the faulty satellite until the relative positions of the faulty satellite and the rescue satellite reach a preset distance range; The satellite fault repair module is used to repair the fault satellite within the distance range through the rescue satellite according to the fault information.

9. A satellite rescue device, characterized in that: The satellite rescue device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the satellite rescue method according to any one of claims 1 to 7.

10. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the satellite rescue method according to any one of claims 1 to 7 are implemented.

Images