Satellite trajectory tracking method, device and equipment for laser communication ground station

Abstract

The present invention provides a method, device and equipment for tracking satellite trajectories of a laser communication ground station. The method comprises the following steps: obtaining the satellite trajectory of a satellite tracked by the ground station; judging whether there is an overlapping area between the satellite trajectory and a solar eclipse avoidance blind area; wherein the solar eclipse avoidance blind area is an area where the antenna of the ground station can be illuminated by sunlight; if so, judging whether a trajectory starting point or a trajectory ending point of the satellite trajectory belongs to the overlapping area; if so, removing the trajectory belonging to the overlapping area from the satellite trajectory to obtain a target tracking trajectory; if not, determining an overlapping starting point and an overlapping ending point of the satellite trajectory in the overlapping area; based on the overlapping starting point and the overlapping ending point, correcting the satellite trajectory in the overlapping area to obtain a target tracking trajectory; and controlling the antenna of the ground station to track the target tracking trajectory, thereby preventing the antenna of the ground station from being illuminated by strong light, preventing the laser signal from being submerged in strong background light due to solar eclipse, and ensuring the quality and stability of communication.

Description

Technical Field

[0001] The present invention relates to the field of wireless communication technology, and in particular to a method, device and equipment for tracking satellite trajectories of a laser communication ground station. Background Art

[0002] With the continuous development of satellite communication technology, laser communication has been widely used in the field of space communication due to its advantages such as high bandwidth, low power consumption and high security. Especially in data transmission between ground stations and satellites, laser communication has become an important means of communication.

[0003] However, when the sun is between the ground station antenna and the satellite, the antenna is exposed to strong sunlight, which can interfere with laser communications. This phenomenon is called "solar eclipse" or "transit". Solar eclipse can cause the laser signal to be submerged in strong background light, which can seriously affect communication quality or even cause communication interruption.

[0004] Currently, there is no effective method to make the attitude of the ground station antenna avoid the solar eclipse area. Summary of the invention

[0005] The present invention provides a satellite trajectory tracking method, device and equipment for a laser communication ground station, which are used to solve the technical problem in the prior art that the ground station antenna cannot avoid the solar eclipse area during the process of tracking the satellite.

[0006] On the one hand, the present invention provides a method for tracking a satellite trajectory of a laser communication ground station, comprising:

[0007] Get satellite tracks of satellites tracked by ground stations;

[0008] Determine whether there is an overlapping area between the satellite trajectory and the solar eclipse avoidance blind area; wherein the solar eclipse avoidance blind area is an area where the antenna of the ground station can be illuminated by sunlight;

[0009] If so, determining whether a trajectory start point or a trajectory end point of the satellite trajectory belongs to the overlapping area;

[0010] If yes, remove the trajectory of the satellite trajectory belonging to the overlapping area to obtain the target tracking trajectory;

[0011] If not, determining an overlap start point and an overlap end point of the satellite trajectory in the overlap area;

[0012] Based on the overlapping starting point and the overlapping ending point, correcting the satellite trajectory in the overlapping area to obtain a target tracking trajectory;

[0013] Control the antenna of the ground station to track the target tracking trajectory.

[0014] According to a satellite trajectory tracking method for a laser communication ground station provided by the present invention, the satellite trajectory in the overlapping area is corrected based on the overlapping starting point and the overlapping ending point, including:

[0015] Determine a servo pointing vector at a trajectory starting point, a servo pointing vector at a trajectory ending point, and an avoidance radius of the satellite trajectory;

[0016] Obtaining a target avoidance point based on the overlap starting point, the servo pointing vector at the trajectory starting point, the overlap ending point, the servo pointing vector at the trajectory ending point, and the avoidance radius;

[0017] Take a first sample point within a preset distance range before the overlap start point to obtain a first sample set, and take a second sample point within a preset distance range after the overlap end point to obtain a second sample set;

[0018] Based on the first sample set, the second sample set and the target avoidance point, performing quadratic spline interpolation fitting to generate an avoidance fitting curve;

[0019] The avoidance fitting curve is used to replace the satellite trajectory between the overlap start point and the overlap end point.

[0020] According to a satellite trajectory tracking method for a laser communication ground station provided by the present invention, after obtaining the target avoidance point, the method further includes:

[0021] Determining whether the target avoidance point is within a servo operation limit zone of the ground station;

[0022] If so, the avoidance radius is inverted to obtain a reverse radius;

[0023] Obtaining a new target avoidance point based on the overlap starting point, the servo pointing vector at the track starting point, the overlap ending point, the servo pointing vector at the track ending point, and the reverse radius;

[0024] Determining whether the new target avoidance point is within the servo operation limit area of ​​the ground station;

[0025] If so, a warning message is output, and the step of using the avoidance fitting curve to replace the satellite trajectory between the overlap start point and the overlap end point is stopped.

[0026] According to a satellite trajectory tracking method for a laser communication ground station provided by the present invention, the quadratic spline interpolation fitting is performed based on the first sample set, the second sample set and the target avoidance point, and further includes:

[0027] Determine an azimuth between two adjacent points in the first sample set and the second sample set;

[0028] Determine whether the azimuth crosses 0 degrees;

[0029] If so, based on 360 degrees, the azimuth that crosses 0 degree is adjusted to maintain the continuity of the azimuth in time.

[0030] According to a satellite trajectory tracking method for a laser communication ground station provided by the present invention, the method of replacing the satellite trajectory between the overlap starting point and the overlap ending point with the avoidance fitting curve comprises:

[0031] Comparing the angle difference between the satellite trajectory between the overlap start point and the overlap end point and the corresponding point on the avoidance fitting curve;

[0032] When the angle difference is greater than the half field of view angle of the ground station antenna, the corresponding point on the satellite trajectory is replaced by the point on the avoidance fitting curve;

[0033] When the angle difference is less than or equal to the half field of view angle of the ground station antenna, stop using the points on the avoidance fitting curve to replace the corresponding points on the satellite trajectory.

[0034] According to a satellite trajectory tracking method for a laser communication ground station provided by the present invention, before determining whether the satellite trajectory has an overlapping area with a solar transit avoidance blind area, the method further includes:

[0035] Get the servo operation limit of the ground station;

[0036] Determining whether there is a limit track corresponding to the servo operation limit in the satellite track;

[0037] If so, the limit trajectory is processed based on the servo operation limit to avoid exceeding the servo operation range during the servo operation.

[0038] According to a satellite trajectory tracking method for a laser communication ground station provided by the present invention, the satellite trajectory includes AE coordinates of multiple trajectory points and corresponding time information.

[0039] According to a satellite trajectory tracking method for a laser communication ground station provided by the present invention, the solar transit avoidance blind area is determined based on the antenna of the ground station and the position of the sun.

[0040] On the other hand, the present invention also provides a tracking device for a satellite trajectory of a laser communication ground station, comprising:

[0041] An acquisition module, used to acquire satellite trajectories of satellites tracked by a ground station;

[0042] The first judgment module is used to judge whether there is an overlapping area between the satellite trajectory and the solar eclipse avoidance blind area; wherein the solar eclipse avoidance blind area is an area where the antenna of the ground station can be illuminated by sunlight;

[0043] A second judgment module is used to judge whether the trajectory starting point or the trajectory ending point of the satellite trajectory belongs to the overlapping area;

[0044] A removal module, configured to remove the trajectories belonging to the overlapping area from the satellite trajectories to obtain a target tracking trajectory;

[0045] an endpoint determination module, for determining, if no, an overlap start point and an overlap end point of the satellite trajectory in the overlap area;

[0046] A curve fitting module, used for correcting the satellite trajectory in the overlapping area based on the overlapping starting point and the overlapping ending point to obtain a target tracking trajectory;

[0047] The tracking module is used to control the antenna of the ground station to track the target and track the trajectory.

[0048] On the other hand, the present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, it implements any of the above-mentioned satellite trajectory tracking methods for a laser communication ground station.

[0049] The present invention provides a method, device and equipment for tracking satellite trajectories of a laser communication ground station. The method, device and equipment determine whether there is an overlapping area between the satellite trajectory and a solar eclipse avoidance blind area; if so, determine whether a trajectory starting point or a trajectory ending point of the satellite trajectory belongs to the overlapping area; if so, remove the trajectory belonging to the overlapping area in the satellite trajectory to obtain a target tracking trajectory; if not, determine the overlapping starting point and overlapping ending point of the satellite trajectory in the overlapping area; based on the overlapping starting point and overlapping ending point, correct the satellite trajectory in the overlapping area to obtain a target tracking trajectory; and control the antenna of the ground station to track the target tracking trajectory, thereby preventing the antenna of the ground station from being exposed to strong light and preventing the laser signal from being submerged in strong background light due to solar eclipse, thereby ensuring the quality and stability of communication and helping to extend the service life of the antenna and other equipment of the ground station. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0051] Figure 1 It is a flowchart of a method for tracking satellite trajectories of a laser communication ground station provided by an embodiment of the present invention;

[0052] Figure 2 It is a schematic structural diagram of a satellite trajectory tracking device for a laser communication ground station provided by an embodiment of the present invention;

[0053] Figure 3 It is a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0054] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0055] Figure 1 It is a flow chart of a satellite trajectory tracking method for a laser communication ground station provided by an embodiment of the present invention. The method is applicable to a ground station performing a satellite tracking task. When the task trajectory (i.e., the satellite trajectory to be tracked) is preloaded, it is determined in advance whether the antenna pointing will enter the solar transit avoidance blind zone (the solar transit avoidance blind zone may also be called the transit avoidance blind zone). If it will enter the solar transit avoidance blind zone, the avoidance trajectory is calculated to correct the original trajectory, and the corrected trajectory data is injected into the servo. When the capture time starts, the ground station is controlled to track the satellite according to the corrected trajectory data to ensure that the antenna pointing will not enter the solar transit avoidance blind zone during the tracking process.

[0056] In the application scenario of laser communication ground station, the servo AE coordinate system is used to accurately describe and control the pointing of the antenna. By adjusting the azimuth and elevation of the antenna, precise tracking of specific satellites or other space targets can be achieved. The servo AE coordinate system refers to a specific coordinate system used to describe the pointing of the antenna of the laser communication ground station. The "AE" here can stand for the azimuth-elevation coordinate system, which is a commonly used antenna pointing coordinate system widely used in astronomy, radar technology, and satellite communications. Azimuth (Azimuth, A): refers to the angle measured clockwise along the horizontal plane from the reference direction (usually due north) to the target direction. The azimuth angle usually ranges from 0° to 360°. Elevation (Elevation, E): refers to the angle measured upward from the horizon to the target direction. The range of the pitch angle is -90° (straight down) to +90° (straight up), where 0° means the target is on the horizon.

[0057] See also Figure 1 , a satellite trajectory tracking method for a laser communication ground station includes the following steps.

[0058] 101. Obtain the satellite trajectory of the ground station tracking satellite.

[0059] In this step, the satellite trajectory of the satellite can be calculated based on the tracking mission time of the ground station and the latest two roots of the satellite. The satellite trajectory includes the AE coordinates of multiple trajectory points and the time information corresponding to the coordinates.

[0060] 102. Determine whether there is an overlapping area between the satellite trajectory and the solar eclipse avoidance blind area, wherein the solar eclipse avoidance blind area is an area where the antenna of the ground station can be illuminated by sunlight.

[0061] In this step, the solar eclipse avoidance blind area is determined based on the antenna of the ground station and the position of the sun. The area where the antenna of the ground station can be illuminated by sunlight, where sunlight can refer to sunlight with an intensity greater than a preset intensity threshold. The overlapping area can generally refer to the part of the satellite trajectory that first enters the solar eclipse avoidance blind area and the part that first leaves the solar eclipse avoidance blind area; it can also refer to the part of the satellite trajectory that needs to pass through the solar eclipse avoidance blind area.

[0062] If yes, execute 103 to determine whether the trajectory start point or trajectory end point of the satellite trajectory belongs to the overlapping area.

[0063] In this step, the trajectory start point and the trajectory end point of the satellite trajectory can be predetermined, and after the overlapping area is determined, it can be determined whether the trajectory start point and the trajectory end point of the satellite trajectory are in the overlapping area.

[0064] If so, execute 104 to remove the trajectories in the satellite trajectories that belong to the overlapping area to obtain the target tracking trajectory.

[0065] In this step, when the trajectory start point or the trajectory end point of the satellite trajectory belongs to the overlapping area, the trajectory of the satellite trajectory belonging to the overlapping area is removed, which can prevent the antenna of the ground station from being exposed to strong light.

[0066] If not, execute 105 to determine the overlapping start point and the overlapping end point of the satellite trajectory in the overlapping area.

[0067] In this step, the overlap start point and the overlap end point may refer to two end points of the satellite tracks in the overlap area.

[0068] 106. Based on the overlapping start point and the overlapping end point, the satellite trajectory in the overlapping area is corrected to obtain the target tracking trajectory.

[0069] 107. Control the ground station’s antenna to track the target and track the trajectory.

[0070] In this embodiment, it is determined whether there is an overlapping area between the satellite trajectory and the solar eclipse avoidance blind spot; if so, it is determined whether the trajectory starting point or the trajectory ending point of the satellite trajectory belongs to the overlapping area; if so, the trajectory belonging to the overlapping area in the satellite trajectory is eliminated to obtain the target tracking trajectory; if not, the overlapping starting point and the overlapping ending point of the satellite trajectory in the overlapping area are determined; based on the overlapping starting point and the overlapping ending point, the satellite trajectory in the overlapping area is corrected to obtain the target tracking trajectory; the antenna of the ground station is controlled to track the target tracking trajectory, so that the antenna of the ground station can be avoided from being located under strong light, and the laser signal can be avoided from being submerged in strong background light due to solar eclipse, thereby ensuring the quality and stability of communication, and also helping to extend the service life of the antenna and other equipment of the ground station.

[0071] In one embodiment of the present specification, based on the overlap start point and the overlap end point, correcting the satellite trajectory in the overlap area includes:

[0072] Determine a servo pointing vector at a trajectory starting point, a servo pointing vector at a trajectory ending point, and an avoidance radius of the satellite trajectory;

[0073] Obtaining a target avoidance point based on the overlap start point, the servo pointing vector at the trajectory start point, the overlap end point, the servo pointing vector at the trajectory end point, and the avoidance radius;

[0074] Take a first sample point within a preset distance range before the overlap start point to obtain a first sample set, and take a second sample point within a preset distance range after the overlap end point to obtain a second sample set;

[0075] Based on the first sample set, the second sample set and the target avoidance point, a quadratic spline interpolation fitting is performed to generate an avoidance fitting curve;

[0076] The satellite trajectory between the overlap start point and the overlap end point is replaced by an avoidance fitting curve.

[0077] In this embodiment, the servo pointing vector at the starting point of the trajectory: this refers to the direction vector of the antenna pointing to the satellite when the satellite trajectory begins. This vector can be calculated using the known satellite position and the position of the ground station. Specifically, the coordinates of the satellite (for example, the satellite position calculated by two rows of root data) and the coordinates of the ground station can be used to obtain the direction vector from the ground station to the satellite through vector operations. The servo pointing vector at the end point of the trajectory: this refers to the direction vector of the antenna pointing to the satellite at the end of the satellite trajectory. The calculation method is the same as the servo pointing vector at the starting point, but the satellite position used is the satellite position at the end of the trajectory. Avoidance radius: a parameter set according to the requirements for antenna protection in actual application scenarios. It represents the safe distance that the antenna needs to avoid direct sunlight when calculating the avoidance trajectory.

[0078] The target avoidance point can be understood as the avoidance midpoint. In simple terms, the avoidance midpoint is to find an optimal position based on the original trajectory that can avoid sunlight and be as close to the original trajectory as possible, so as to ensure the stability and effectiveness of the antenna during the avoidance operation. In other words, the avoidance midpoint is the position with the smallest deviation from the original satellite trajectory under the premise of not entering the area of ​​strong sunlight. The front and back of the trajectory point can be defined according to the time of the trajectory point. The point that is earlier in time is the front point.

[0079] This embodiment can prevent the antenna of the ground station from being exposed to strong light, and prevent the laser signal from being submerged in strong background light due to solar eclipse, thereby ensuring the quality and stability of communication. In addition, a relatively smooth avoidance fitting curve can be obtained, which can avoid mechanical stress or performance degradation caused by sudden changes in the antenna's direction, and ensure the stability and smoothness of the antenna during movement.

[0080] In one embodiment of the present specification, based on the overlap starting point, the servo pointing vector at the track starting point, the overlap ending point, the servo pointing vector at the track ending point and the avoidance radius, a target avoidance point is obtained, including:

[0081] The motion direction vector of the antenna can be obtained according to the servo pointing vector at the starting point of the trajectory and the servo pointing vector at the ending point of the trajectory, and the motion direction vector is normalized to obtain a motion direction normalization result;

[0082] Based on the normalized result of the motion direction, the rotation axis can be obtained, and the rotation axis is normalized to obtain the normalized result of the rotation axis;

[0083] The rotation matrix is ​​constructed using the normalized result of the rotation axis and the avoidance radius as the rotation radius;

[0084] Based on the rotation matrix, the target avoidance vector is obtained;

[0085] Based on the target avoidance vector, the azimuth and elevation angles of the target avoidance point are obtained by converting the spherical coordinates.

[0086] In an embodiment of the present specification, after obtaining the target avoidance point, the method further includes:

[0087] Determine whether the target avoidance point is within the servo operation limit area of ​​the ground station;

[0088] If so, the avoidance radius is negated to obtain the reverse radius;

[0089] Based on the overlap starting point, the servo pointing vector at the trajectory starting point, the overlap ending point, the servo pointing vector at the trajectory ending point and the reverse radius, a new target avoidance point is obtained;

[0090] Determine whether the new target avoidance point is within the servo operation limit area of ​​the ground station;

[0091] If so, a warning message is output, and the step of replacing the satellite trajectory between the overlap start point and the overlap end point with the avoidance fitting curve is stopped.

[0092] In this embodiment, when the initially calculated target avoidance point is within the servo operation limit zone, an attempt is made to avoid the point in the opposite direction. If the limit zone cannot be avoided by avoiding the point in the opposite direction, the loading of the relevant trajectory is stopped and a warning is issued. This mechanism increases the robustness of the algorithm and prevents damage to the equipment due to exceeding the mechanical limit due to the avoidance action.

[0093] In one embodiment of the present specification, based on the first sample set, the second sample set and the target avoidance point, performing quadratic spline interpolation fitting also includes:

[0094] Determine the azimuth between two adjacent points in the first sample set and the second sample set;

[0095] Determine whether the azimuth crosses 0 degrees;

[0096] If so, based on 360 degrees, the azimuth that crosses 0 degree is adjusted to maintain the continuity of the azimuth in time.

[0097] In this embodiment, the azimuth angle is adjusted to maintain its continuity, ensuring the temporal coherence of the angle data, which is crucial for accurately controlling the antenna movement and avoiding data discontinuity caused by periodic changes in the angle, thereby ensuring that the generated avoidance trajectory is more accurate and smooth.

[0098] In this embodiment, the azimuth change between two adjacent sample points is checked in time order. If the azimuth of a sample point is found to change from close to 360 degrees to close to 0 degrees, or vice versa, it means that the azimuth crosses 0 degrees. Based on 360 degrees, the azimuth that crosses 0 degrees is adjusted to maintain the continuity of the azimuth in time. For example, if the azimuth of a sample point suddenly decreases (for example, from 359 degrees to 1 degree), the azimuth of the point and all subsequent points is added by 360 degrees, so that they appear to be continuously increasing; if the azimuth of a sample point suddenly increases (for example, from 1 degree to 359 degrees), the azimuth of the point and all subsequent points is subtracted by 360 degrees, so that they appear to be continuously decreasing.

[0099] In one embodiment of the present specification, using an avoidance fitting curve to replace a satellite trajectory between an overlap start point and an overlap end point includes:

[0100] Compare the angle difference between the satellite trajectory between the overlap start point and the overlap end point and the corresponding point on the avoidance fitting curve;

[0101] When the angle difference is greater than the half field of view of the ground station antenna (half of the camera field of view), the corresponding point on the satellite trajectory is replaced with the point on the avoidance fitting curve;

[0102] When the angle difference is less than or equal to the half field of view angle of the ground station antenna, stop replacing the corresponding point on the satellite trajectory with the point on the avoidance fitting curve.

[0103] In this embodiment, the angle difference between the original trajectory and the corresponding point on the avoidance fitting curve is compared, and the trajectory point is replaced only when the angle difference is greater than the antenna half field of view angle. This is done to maximize the retention of effective tracking time, that is, the trajectory is changed only when necessary, thereby maintaining as many effective tracking segments as possible.

[0104] In some other embodiments of the present invention, quadratic spline interpolation fitting is performed based on the first sample set, the second sample set and the target avoidance point to generate an avoidance fitting curve. Generally, fitting can be performed based on the azimuth and pitch angles of each trajectory point in the first sample set and the second sample set and the time (Julian day format) to run to the point. The specific fitting process can be shown as follows.

[0105] Step 1: Determine the fitting polynomial formula, as shown in formula (1):

[0106] (1), where is the predicted value (azimuth or elevation), where d is the order of the fitting polynomial PloyOrder; the azimuth and elevation are fitted based on time, respectively, and x is the time of the i-th sample. to represents the coefficient, where is a constant term, and so on. is the coefficient of the d-order term.

[0107] Step 2: Define the sum of squared errors as the objective function, as shown in formula (2);

[0108] (2), where n is the number of samples (the sum of the first sample set, the second sample set and the target avoidance point), is the predicted value of the azimuth or elevation angle of the i-th point, is the actual value of the azimuth or elevation angle of the i-th point (i.e. the azimuth or elevation angle of the actual satellite trajectory).

[0109] Step 3: Construct the design matrix , the target vector .

[0110] to is the actual value of the azimuth or elevation angle of samples 1 to n, d is the order of the fitting polynomial, x is the time of the i-th sample, and the linear equation system is used to calculate the , calculate the coefficient vector ;

[0111] Through the above method, an avoidance fitting curve can be obtained.

[0112] In some other embodiments of the present invention, comparing the angle difference between the satellite trajectory between the overlap start point and the overlap end point and the corresponding point on the avoidance fitting curve may include:

[0113] The azimuth and pitch coordinates of the satellite trajectory points between the overlap start point and the overlap end point are calculated with the azimuth and pitch coordinates of the corresponding points on the avoidance fitting curve as follows:

[0114] The azimuth and elevation coordinates are converted into Cartesian three-dimensional coordinates as shown in the following formulas (3) to (5):

[0115] (3);

[0116] (4);

[0117] (5);

[0118] in is the azimuth coordinate, e is the elevation coordinate, and the coordinate point on the fitting curve to be avoided at a certain moment is obtained. , and the original satellite trajectory coordinate point . Angle difference value .

[0119] In an embodiment of the present specification, before determining whether there is an overlapping area between the satellite trajectory and the solar transit avoidance blind area, the method further includes:

[0120] Get the servo operation limit of the ground station;

[0121] Determine whether there is a limit track corresponding to the servo operation limit in the satellite track;

[0122] If so, the limit trajectory is processed based on the servo operation limit to avoid exceeding the servo operation range during the servo operation.

[0123] In this embodiment, the servo operation limit is checked before the avoidance calculation is started to ensure that the entire trajectory is within the physical limit of the servo system. This step enhances the safety of the system and prevents potential risks caused by exceeding the servo range. Processing the limit trajectory based on the servo operation limit can include multiple methods, such as directly removing part of the trajectory points that exceed the limit; or replanning the path, etc.

[0124] Based on the same general inventive concept, the present invention also protects a satellite trajectory tracking device for a laser communication ground station, such as Figure 2 As shown, Figure 2 1 is a schematic diagram of the structure of a satellite trajectory tracking device for a laser communication ground station provided by an embodiment of the present invention. The satellite trajectory tracking device for a laser communication ground station provided by the present invention is described below. The satellite trajectory tracking device for a laser communication ground station described below and the satellite trajectory tracking method for a laser communication ground station described above can be referred to each other.

[0125] The satellite trajectory tracking device for a laser communication ground station includes an acquisition module 201, a first judgment module 202, a second judgment module 203, a removal module 204, an endpoint determination module 205, a curve fitting module 206 and a tracking module 207.

[0126] The acquisition module 201 is used to acquire the satellite trajectory of the satellite tracked by the ground station;

[0127] The first judgment module 202 is used to judge whether there is an overlapping area between the satellite trajectory and the solar eclipse avoidance blind area; wherein the solar eclipse avoidance blind area is an area where the antenna of the ground station can be illuminated by sunlight;

[0128] The second judgment module 203 is used to judge whether the trajectory starting point or the trajectory ending point of the satellite trajectory belongs to the overlapping area;

[0129] The elimination module 204 is used to eliminate the trajectory belonging to the overlapping area in the satellite trajectory to obtain the target tracking trajectory;

[0130] The endpoint determination module 205 is used to determine the overlap start point and overlap end point of the satellite trajectory in the overlap area if no;

[0131] The curve fitting module 206 is used to correct the satellite trajectory in the overlapping area based on the overlapping starting point and the overlapping ending point to obtain a target tracking trajectory;

[0132] The tracking module 207 is used to control the antenna of the ground station to track the target tracking trajectory.

[0133] Figure 3 Schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. Figure 3As shown, the electronic device may include: a processor 310, a communications interface 320, a memory 330 and a communication bus 340, wherein the processor 310, the communications interface 320 and the memory 330 communicate with each other through the communication bus 340. The processor 310 may call the logic instructions in the memory 330 to execute the satellite trajectory tracking method for the laser communication ground station.

[0134] In addition, the logic instructions in the above-mentioned memory 330 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0135] On the other hand, the present invention also provides a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the satellite trajectory tracking method for a laser communication ground station provided by the above-mentioned methods.

[0136] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the satellite trajectory tracking method for a laser communication ground station provided by the above-mentioned methods.

[0137] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0138] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0139] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for tracking satellite trajectories for a laser communication ground station, characterized in that: include: Get satellite tracks of satellites tracked by ground stations; Determine whether there is an overlapping area between the satellite trajectory and the solar eclipse avoidance blind area; wherein the solar eclipse avoidance blind area is an area where the antenna of the ground station can be illuminated by sunlight; If so, determining whether a trajectory start point or a trajectory end point of the satellite trajectory belongs to the overlapping area; If yes, remove the trajectory of the satellite trajectory belonging to the overlapping area to obtain the target tracking trajectory; If not, determining an overlap start point and an overlap end point of the satellite trajectory in the overlap area; Based on the overlapping starting point and the overlapping ending point, correcting the satellite trajectory in the overlapping area to obtain a target tracking trajectory; Controlling the antenna of the ground station to track the target tracking trajectory; Wherein, the step of correcting the satellite trajectory in the overlapping area based on the overlapping starting point and the overlapping ending point comprises: Determine a servo pointing vector at a trajectory starting point, a servo pointing vector at a trajectory ending point, and an avoidance radius of the satellite trajectory; Obtaining a target avoidance point based on the overlap starting point, the servo pointing vector at the trajectory starting point, the overlap ending point, the servo pointing vector at the trajectory ending point, and the avoidance radius; Take a first sample point within a preset distance range before the overlap start point to obtain a first sample set, and take a second sample point within a preset distance range after the overlap end point to obtain a second sample set; Based on the first sample set, the second sample set and the target avoidance point, performing quadratic spline interpolation fitting to generate an avoidance fitting curve; Using the avoidance fitting curve to replace the satellite trajectory between the overlap starting point and the overlap ending point; After obtaining the target avoidance point, the method further includes: Determining whether the target avoidance point is within a servo operation limit zone of the ground station; If so, the avoidance radius is inverted to obtain a reverse radius; Obtaining a new target avoidance point based on the overlap starting point, the servo pointing vector at the track starting point, the overlap ending point, the servo pointing vector at the track ending point, and the reverse radius; Determining whether the new target avoidance point is within the servo operation limit area of ​​the ground station; If so, a warning message is output, and the step of using the avoidance fitting curve to replace the satellite trajectory between the overlap start point and the overlap end point is stopped.

2. The satellite trajectory tracking method for a laser communication ground station according to claim 1, characterized in that: The performing of quadratic spline interpolation fitting based on the first sample set, the second sample set and the target avoidance point further includes: Determine an azimuth between two adjacent points in the first sample set and the second sample set; Determine whether the azimuth crosses 0 degrees; If so, based on 360 degrees, the azimuth that crosses 0 degree is adjusted to maintain the continuity of the azimuth in time.

3. The satellite trajectory tracking method for a laser communication ground station according to claim 1, characterized in that: The step of replacing the satellite trajectory between the overlap starting point and the overlap ending point with the avoidance fitting curve comprises: Comparing the angle difference between the satellite trajectory between the overlap start point and the overlap end point and the corresponding point on the avoidance fitting curve; When the angle difference is greater than the half field of view angle of the ground station antenna, the corresponding point on the satellite trajectory is replaced by the point on the avoidance fitting curve; When the angle difference is less than or equal to the half field of view angle of the ground station antenna, stop using the points on the avoidance fitting curve to replace the corresponding points on the satellite trajectory.

4. The satellite trajectory tracking method for a laser communication ground station according to claim 1, characterized in that: Before determining whether the satellite trajectory and the solar transit avoidance blind zone have an overlapping area, the method further includes: Get the servo operation limit of the ground station; Determining whether there is a limit track corresponding to the servo operation limit in the satellite track; If so, the limit trajectory is processed based on the servo operation limit to avoid exceeding the servo operation range during the servo operation.

5. The satellite trajectory tracking method for a laser communication ground station according to claim 1, characterized in that: The satellite trajectory includes AE coordinates of multiple trajectory points and corresponding time information.

6. The satellite trajectory tracking method for a laser communication ground station according to claim 1, characterized in that: The solar eclipse avoidance blind area is determined based on the antenna of the ground station and the position of the sun.

7. A satellite trajectory tracking device for a laser communication ground station, characterized in that: include: An acquisition module, used to acquire satellite trajectories of satellites tracked by a ground station; The first judgment module is used to judge whether there is an overlapping area between the satellite trajectory and the solar eclipse avoidance blind area; wherein the solar eclipse avoidance blind area is an area where the antenna of the ground station can be illuminated by sunlight; A second judgment module is used to judge whether the trajectory starting point or the trajectory ending point of the satellite trajectory belongs to the overlapping area; A removal module, configured to remove the trajectories belonging to the overlapping area from the satellite trajectories to obtain a target tracking trajectory; an endpoint determination module, for determining, if no, an overlap start point and an overlap end point of the satellite trajectory in the overlap area; A curve fitting module, used for correcting the satellite trajectory in the overlapping area based on the overlapping starting point and the overlapping ending point to obtain a target tracking trajectory; A tracking module, used to control the antenna of the ground station to track the target tracking trajectory; Based on the overlap start point and the overlap end point, correcting the satellite trajectory in the overlap area includes: Determine a servo pointing vector at a trajectory starting point, a servo pointing vector at a trajectory ending point, and an avoidance radius of the satellite trajectory; Obtaining a target avoidance point based on the overlap starting point, the servo pointing vector at the trajectory starting point, the overlap ending point, the servo pointing vector at the trajectory ending point, and the avoidance radius; Take a first sample point within a preset distance range before the overlap start point to obtain a first sample set, and take a second sample point within a preset distance range after the overlap end point to obtain a second sample set; Based on the first sample set, the second sample set and the target avoidance point, performing quadratic spline interpolation fitting to generate an avoidance fitting curve; Using the avoidance fitting curve to replace the satellite trajectory between the overlap starting point and the overlap ending point; After obtaining the target avoidance point, the method further includes: Determining whether the target avoidance point is within a servo operation limit zone of the ground station; If so, the avoidance radius is inverted to obtain a reverse radius; Obtaining a new target avoidance point based on the overlap starting point, the servo pointing vector at the track starting point, the overlap ending point, the servo pointing vector at the track ending point, and the reverse radius; Determining whether the new target avoidance point is within the servo operation limit area of ​​the ground station; If so, a warning message is output, and the step of using the avoidance fitting curve to replace the satellite trajectory between the overlap start point and the overlap end point is stopped.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the satellite trajectory tracking method for a laser communication ground station is implemented as described in any one of claims 1 to 6 above.

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