Sunlight direct radiation avoidance method and system for intersatellite laser communication

Abstract

The application provides a sunlight direct irradiation avoiding method and system for intersatellite laser communication. The method comprises the following steps: judging the included angle in real time according to the satellite broadcast sun vector and the current optical axis pointing vector, and autonomously entering the sun-eclipse avoiding mode if the included angle is less than 3 degrees; converting the sun vector to the azimuth-elevation two-dimensional coordinate system of the optical antenna, and determining the azimuth, elevation value and azimuth-elevation change direction of the sun vector; and autonomously ending the sun-eclipse avoiding and re-establishing the chain after the included angle between the pointing vector and the sun vector is greater than 3 degrees. The technical scheme provided by the application does not need to be predicted, the included angle is calculated in real time according to the current laser terminal optical axis pointing and the satellite broadcast sun vector, the sun-eclipse avoiding mode is autonomously entered if the included angle is less than 3 degrees, and no manual instruction is needed, so that the sunlight direct irradiation can be effectively avoided in the avoiding process.

Description

TECHNICAL FIELD

[0001] The application provides a sunlight direct irradiation prevention intersatellite laser communication sun transit avoidance method and system, and belongs to the technical field of space laser communication. BACKGROUND

[0002] The intersatellite link refers to a link for communication between satellites, and can realize information transmission and exchange between satellites. Sun transit is an important factor affecting link communication, which not only interrupts the communication of the link, but also causes irreversible damage to sensitive components inside the laser terminal.

[0003] In the intersatellite link sun transit avoidance method and system (202311044174.3), the ephemeris information, satellite attitude and topocentric vector of a first satellite are obtained, the ephemeris information of a second satellite is received, the pointing vector from the first satellite to the second satellite is calculated, the included angle between the pointing vector and the sun vector is calculated, and it is judged whether to start sun transit avoidance.

[0004] In the method for on-orbit autonomous avoidance of sun transit of a spaceborne laser communication device, equipment and medium (202210064007.4), the intersatellite laser communication link is established, the intersatellite laser communication link vector and the sun incident vector at the current time and T seconds later are continuously predicted by the attitude and orbit control subsystem, the included angle between the link vector and the sun incident vector is judged, if the included angle is less than the sun transit avoidance angle, the attitude and orbit control subsystem calculates the servo azimuth angle increment and the servo elevation angle increment of the spaceborne laser communication device for avoidance deflection and sends them to the satellite subsystem. When the included angle is greater than the sun transit avoidance angle, if the satellite attitude parameters are normal, a reset capture instruction is sent to the spaceborne laser communication device, and the laser communication link with the spaceborne laser communication device of the opposite satellite is re-established. SUMMARY

[0005] The application provides a sunlight direct irradiation prevention intersatellite laser communication sun transit avoidance method and system, which solves the problems mentioned in the background.

[0006] The application provides a sunlight direct irradiation prevention intersatellite laser communication sun transit avoidance method, which comprises the following steps:

[0007] S1, judging the included angle in real time according to the satellite broadcast sun vector and the current optical axis pointing vector, and autonomously entering the sun transit avoidance mode if the included angle is less than 3°;

[0008] S2, converting the sun vector to the azimuth-elevation two-dimensional coordinate system of the optical antenna to determine the azimuth and elevation values of the sun vector;

[0009] S3, judging the sun vector speed direction;

[0010] S4, after the fixed time is set or the angle between the theoretical pointing and the sun vector is greater than 3°, ending the solar eclipse avoidance and reestablishing the link.

[0011] Further, the S1 comprises:

[0012] S11, the satellite-borne device receives the latest sun vector data broadcast by the satellite system in time, the sun vector data comprising the position, direction and speed of the sun;

[0013] S12, the laser communication terminal obtains the accurate pointing vector of the current optical axis in real time through the built-in attitude sensor and optical axis encoder, the pointing vector comprising the azimuth angle and the elevation angle;

[0014] S13, the angle between the received sun vector and the current optical axis pointing vector is calculated through vector dot product or vector angle formula;

[0015] S14, the calculated angle is compared with the preset safety threshold;

[0016] If the angle is less than the safety threshold, it indicates that the optical axis may be close to the direction of the sun, and there is a solar eclipse risk;

[0017] If it is confirmed that the angle is less than the safety threshold, the system automatically triggers the solar eclipse avoidance mode, and after entering the avoidance mode, the system immediately executes the next avoidance strategy.

[0018] Further, the S2 comprises:

[0019] S21, the definition of the azimuth-elevation two-dimensional coordinate system of the optical antenna is determined, the definition comprising the origin, coordinate axis direction and unit;

[0020] S22, the conversion algorithm selection is performed according to the mathematical principle of coordinate system conversion, the conversion algorithm comprising Euler angle conversion or quaternion conversion;

[0021] S23, the received sun vector data is converted from the original coordinate system to the azimuth-elevation two-dimensional coordinate system of the optical antenna, and the azimuth angle and the elevation angle of the sun vector in the new coordinate system are calculated and determined;

[0022] S24, the conversion result is verified; if the conversion error is found, the error processing is performed and the conversion process is re-executed;

[0023] S25, and the converted sun vector azimuth and elevation values are stored in the system.

[0024] Further, the S3 comprises:

[0025] S31, extract the azimuth velocity component from the sun vector data, judge the velocity direction of the sun vector azimuth according to the positive and negative of the velocity component, the positive value represents the positive movement of the sun in the azimuth, and the negative value represents the negative movement;

[0026] S32, different avoidance strategies are set according to the different velocity directions, one strategy is adopted when moving in the positive direction, and another strategy is adopted when moving in the negative direction; The strategy includes:

[0027] 1). If the sun vector azimuth velocity is positive, first rotate the azimuth motor 5° in the positive direction, and then rotate the pitch motor 10° in the pitch direction;

[0028] 2). If the sun vector azimuth velocity is negative, first rotate the azimuth motor 5° in the negative direction, and then rotate the pitch motor 10° in the pitch direction;

[0029] S33, refine the specific parameters of the avoidance strategy, the avoidance strategy includes the angle of rotating the azimuth motor and the angle of rotating the pitch motor;

[0030] S34, set the specific parameters as default values, and allow them to be changed through instructions; Load each parameter of the avoidance strategy into the actuator to prepare to execute the avoidance action.

[0031] Further, the S4 includes:

[0032] S41, according to the set avoidance strategy, control the azimuth motor and the pitch motor of the optical antenna to rotate, and continuously monitor the rotation state during the rotation;

[0033] S42, during the execution of the avoidance action, continuously monitor the included angle between the optical axis and the sun vector; If the included angle increases to above the safety threshold, it is judged that the avoidance is successful;

[0034] S43, set the recovery condition, such as after a fixed time or the included angle increases to above the safety threshold;

[0035] S44, when the recovery condition is met, prepare to re-establish the laser communication link;

[0036] S45, control the optical antenna to rotate back to the original position or the direction of the target satellite; Re-establish the laser communication link and test the communication quality;

[0037] S46, after re-establishing the link, continue to monitor the included angle between the optical axis and the sun vector; If it is found that the included angle is less than the safety threshold again, the avoidance process is repeated.

[0038] The application provides an intersatellite laser communication sun avoidance system for preventing direct sunlight, and the system comprises:

[0039] Autonomous avoidance module: real-time angle judgment according to satellite broadcast solar vector and current optical axis pointing vector, if the angle is less than 3°, then autonomously enter the solar eclipse avoidance mode;

[0040] Coordinate conversion module: convert the solar vector to the optical antenna azimuth-elevation two-dimensional coordinate system to determine the azimuth and elevation values of the solar vector;

[0041] Direction judgment module: judge the direction of the solar vector speed;

[0042] Re-linking module: end the solar eclipse avoidance and re-link after a fixed time or after autonomously calculating the theoretical pointing and solar vector angle > 3°.

[0043] Further, the autonomous avoidance module comprises:

[0044] Data receiving module: the satellite-borne device receives the latest solar vector data broadcast by the satellite system at regular intervals, the solar vector data including the position, direction and speed of the sun;

[0045] Vector acquisition module: the laser communication terminal acquires the accurate pointing vector of the current optical axis in real time through the built-in attitude sensor and optical axis encoder, the pointing vector including the azimuth angle and the elevation angle;

[0046] Angle calculation module: calculate the angle between the received solar vector and the current optical axis pointing vector through vector dot product or vector angle formula;

[0047] Threshold comparison module: compare the calculated angle with the preset safety threshold;

[0048] If the angle is less than the safety threshold, it indicates that the optical axis may approach the direction of the sun, and there is a risk of solar eclipse;

[0049] If it is confirmed that the angle is less than the safety threshold, the system automatically triggers the solar eclipse avoidance mode; after entering the avoidance mode, the system immediately executes the next avoidance strategy.

[0050] Further, the coordinate conversion module comprises:

[0051] Definition determination module: determine the definition of the optical antenna azimuth-elevation two-dimensional coordinate system, the definition including the origin, coordinate axis direction and unit;

[0052] Algorithm selection module: select the conversion algorithm according to the mathematical principle of coordinate system conversion, the conversion algorithm including Euler angle conversion or quaternion conversion;

[0053] Coordinate conversion module: convert the received solar vector data from the original coordinate system to the optical antenna azimuth-elevation two-dimensional coordinate system, calculate and determine the azimuth angle and elevation angle of the solar vector in the new coordinate system.

[0054] Result verification module: verifying the conversion result; if a conversion error is found, error handling is performed and the conversion process is re-executed;

[0055] Numerical storage module: and the converted sun vector azimuth, pitch value is stored in the system.

[0056] Further, the direction judgment module comprises:

[0057] Component extraction module: extract the azimuthal velocity component from the sun vector data, and determine the velocity direction of the sun vector azimuth according to the positive and negative of the velocity component, a positive value indicates that the sun moves in the positive direction, and a negative value indicates that the sun moves in the negative direction;

[0058] Strategy setting module: different avoidance strategies are set according to different velocity directions, one strategy is adopted when moving in the positive direction, and another strategy is adopted when moving in the negative direction; the strategy includes:

[0059] 1). If the sun vector azimuth velocity is positive, first rotate the azimuth motor 5° in the positive direction, and then rotate the pitch motor 10° in the pitch direction;

[0060] 2). If the sun vector azimuth velocity is negative, first rotate the azimuth motor 5° in the negative direction, and then rotate the pitch motor 10° in the pitch direction;

[0061] Parameter refinement module: refine the specific parameters of the avoidance strategy, which includes the angle of rotating the azimuth motor and the angle of rotating the pitch motor;

[0062] Instruction change module: set the specific parameters to default values and allow them to be changed through instructions; load each parameter of the avoidance strategy into the actuator to prepare for the avoidance action.

[0063] Further, the re-linking module comprises:

[0064] State monitoring module: according to the set avoidance strategy, control the azimuth motor and the pitch motor of the optical antenna to rotate, and continuously monitor the rotation state during the rotation;

[0065] Avoidance judgment module: continuously monitor the included angle between the optical axis and the sun vector during the execution of the avoidance action; if the included angle increases to above the safety threshold, it is judged that the avoidance is successful;

[0066] Condition setting module: set the recovery condition, such as after a fixed time or when the included angle increases to above the safety threshold;

[0067] Condition satisfaction module: when the recovery condition is met, prepare to re-establish the laser communication link;

[0068] Quality test module: control the optical antenna to rotate back to the original position or the direction of the target satellite; re-establish the laser communication link and perform the communication quality test;

[0069] Iteration avoidance module: after re-establishing the link, continue to monitor the included angle between the optical axis and the sun vector; if the included angle is found to be less than the safety threshold value again, repeat the avoidance process.

[0070] The present application has the following advantages: the technical solution of the present application does not need to be predicted, but calculates the included angle in real time according to the current optical axis direction of the laser terminal and the satellite broadcast sun vector, and if the included angle is less than 3°, the sun-eclipse avoidance mode is automatically entered, without the need for manual instruction. Moreover, the avoidance scheme of the present application considers the speed direction of the sun vector, and according to the different speed directions, there are corresponding avoidance strategies, which can effectively prevent the sunlight from being directly incident during the avoidance process. BRIEF DESCRIPTION OF DRAWINGS

[0071] Figure 1 The method steps of the present application are shown in the figure;

[0072] Figure 2 The system module diagram of the present application is shown in the figure;

[0073] Figure 3 The method flowchart of the present application is shown in the figure. DETAILED DESCRIPTION

[0074] The preferred embodiments of the present application are described below in conjunction with the accompanying drawings, and it should be understood that the preferred embodiments described herein are only used to illustrate and explain the present application, and are not used to limit the present application.

[0075] One embodiment of the present application is shown in the figures as follows: Figure 1 and Figure 3 A sun-eclipse avoidance method for preventing sunlight from being directly incident in inter-satellite laser communication, the method comprising:

[0076] S1, judging the included angle in real time according to the satellite broadcast sun vector and the current optical axis direction vector, and if the included angle is less than 3°, the sun-eclipse avoidance mode is automatically entered;

[0077] S2, converting the sun vector to the azimuth-elevation two-dimensional coordinate system of the optical antenna to determine the azimuth and elevation values of the sun vector;

[0078] S3, judging the speed direction of the sun vector:

[0079] 1). If the azimuth speed of the sun vector is positive, first rotate the azimuth motor by 5° in the positive direction (default, the instruction can be set), and then rotate the elevation motor by 10° in the elevation direction (default, the instruction can be set);

[0080] 2) If the azimuth velocity of the sun vector is negative, first rotate the azimuth motor by 5° in the negative direction (default, command can be set), and then rotate the pitch motor by 10° in the pitch direction (default, command can be set);

[0081] S4, end the eclipse avoidance and re-establish the link after a fixed time (default 100s) or after the self-computed theoretical pointing and the sun vector angle are greater than 3°.

[0082] The working principle of the above technical solution is as follows: the system obtains the sun vector (indicating the position and direction of the sun relative to the satellite) and the current optical axis pointing vector (indicating the direction of the laser communication optical axis) broadcast by the satellite in real time; the angle between the two vectors is calculated; if the angle is less than a set threshold (such as 3°), it is considered that there is a high risk of eclipse, and the system enters the eclipse avoidance mode autonomously to avoid or mitigate the impact of the eclipse on communication; the sun vector is converted from the original coordinate system to the azimuth-pitch two-dimensional coordinate system of the optical antenna. It is convenient for subsequent control of the azimuth and pitch angles of the optical antenna to avoid direct sunlight; in the optical antenna coordinate system, the specific azimuth and pitch angles of the sun vector are determined to provide accurate target positions for subsequent adjustment; according to the velocity direction (positive or negative) of the sun vector in the azimuth, it is determined which direction the sun is moving towards the optical antenna; if the azimuth velocity of the sun vector is positive, it means that the sun is moving towards the positive direction of the optical antenna, and the system first rotates the azimuth motor by a certain angle (such as 5°) in the positive direction to avoid the sun path in advance; then rotate the pitch motor by a certain angle (such as 10°) in the pitch direction to further move away from the direct sunlight area. If the azimuth velocity of the sun vector is negative, the opposite adjustment strategy is adopted, first rotate the azimuth motor in the negative direction, and then rotate the pitch motor; the system determines when to end the eclipse avoidance mode according to one of the two conditions: one is to reach a set fixed time (such as 100 seconds), and the other is to confirm through self-computation that the angle between the current optical axis pointing and the sun vector is greater than a set threshold (such as 3°); when the avoidance end condition is met, the system adjusts the optical axis back to the original communication pointing, re-establishes the laser communication link, and restores the normal communication state.

[0083] The technical scheme has the following effects: the angle between the sun vector and the optical axis pointing vector is calculated in real time, and the system autonomously enters the eclipse avoidance mode when the angle is less than a preset threshold, without manual intervention, greatly improving the autonomy and response speed of the system; the pointing direction of the optical antenna is dynamically adjusted according to the real-time change of the sun vector, ensuring that the sun direct radiation area is avoided in time before the eclipse; the sun vector is accurately converted into the azimuth-elevation two-dimensional coordinate system of the optical antenna, and the specific azimuth and elevation values of the sun are determined, providing a basis for accurately adjusting the optical antenna; different adjustment strategies are adopted according to the positive and negative of the azimuth speed of the sun vector, flexibly coping with different situations and ensuring the maximization of the avoidance effect; through the two-step adjustment strategy of first rotating the azimuth motor and then rotating the elevation motor, the optical axis is quickly pointed away from the sun direct radiation area, effectively avoiding the interference of the eclipse on the communication; during the avoidance process, the system can continuously monitor the angle between the sun vector and the optical axis, and timely restore the communication link when the end condition is met, ensuring the stability and continuity of the communication; the rotation angles (such as 5° and 10°) and fixed times (such as 100s) mentioned in the scheme are default values, which can be adjusted according to actual needs, improving the customizability and flexibility of the scheme; the technical scheme can be easily integrated into the existing inter-satellite laser communication system, and can be upgraded and optimized with the development of technology; through effective eclipse avoidance, the risk of communication interruption caused by sun direct radiation is significantly reduced, improving the reliability and usability of the communication system; direct sunlight of strong sunlight is avoided from shining on the optical system, reducing the damage to the equipment caused by high temperature and light radiation, prolonging the service life of the equipment.

[0084] In one embodiment of the present application, the S1 comprises:

[0085] S11, the satellite-borne device receives the latest sun vector data broadcast by the satellite system in real time, the sun vector data comprising the position, direction and speed of the sun;

[0086] S12, the laser communication terminal obtains the accurate pointing vector of the current optical axis in real time through the built-in attitude sensor and optical axis encoder, the pointing vector comprising the azimuth angle and the elevation angle;

[0087] S13, the angle between the received sun vector and the current optical axis pointing vector is calculated through vector dot product or vector angle formula; wherein the angle between the sun vector and the current optical axis pointing vector is obtained as follows:

[0088] Let the sun vector be The components are represented as (S x , S y , S z ), and the current optical axis pointing vector is The components are (A x , A y , Az );

[0089] The vector dot product formula is:

[0090]

[0091] The modulus (length) of the vectors are respectively:

[0092]

[0093] The included angle θ is obtained by the following formula:

[0094]

[0095] S14, compare the calculated included angle with the preset safety threshold (such as 3°);

[0096] If the included angle is less than the safety threshold, it indicates that the optical axis may be close to the direction of the sun, and there is a risk of solar eclipse;

[0097] If it is confirmed that the included angle is less than the safety threshold, the system automatically triggers the solar eclipse avoidance mode without ground command intervention; after entering the avoidance mode, the system immediately executes the next avoidance strategy.

[0098] The working principle of the above technical solution is: through the equipment installed on the satellite, various data from the satellite system are received and processed; the equipment receives the latest solar vector data broadcast by the satellite system at a predetermined time interval. The data includes the accurate position, direction and speed information of the sun relative to the satellite; the terminal equipment responsible for laser communication has high-precision pointing and tracking capability; the sensors and encoders built-in in the laser communication terminal can sense and measure the accurate pointing vector of the current optical axis in real time. The pointing vector is expressed in the form of azimuth angle and pitch angle, which describes the specific direction of the optical axis in space; the included angle between the received solar vector and the current optical axis pointing vector is calculated using the vector dot product or vector included angle formula. Considering the requirements of calculation accuracy and efficiency, the system uses optimized mathematical algorithms for efficient calculation. The algorithm may include reducing the amount of calculation, improving the calculation accuracy, or using parallel computing and other technical means; compare the calculated included angle with the preset safety threshold (such as 3°). The safety threshold is set according to the system design and communication requirements, which is used to judge whether the optical axis is close to the direction of the sun, so as to evaluate the risk of solar eclipse; if the included angle is less than the safety threshold, it indicates that the optical axis may be close to the direction of the sun, and there is a high risk of solar eclipse. At this time, the system needs to take further measures to avoid this risk; once it is confirmed that the included angle is less than the safety threshold, the system will automatically trigger the solar eclipse avoidance mode. This process does not require ground command intervention and is completely completed by the system itself. After entering the avoidance mode, the system will immediately execute the next avoidance strategy to adjust the pointing of the optical axis and move away from the area directly illuminated by the sun.

[0099] The above technical solution has the following effects: the system can autonomously receive solar vector data and optical axis pointing vector, calculate the included angle between the two in real time, and determine whether to trigger the transit avoidance mode according to the size of the included angle. This process does not require intervention from the ground command, greatly improving the autonomy and response speed of the system; once the transit risk is found, the system can immediately enter the avoidance mode and execute the corresponding avoidance strategy, effectively avoiding communication interruption or performance degradation caused by the transit; the solar vector data received by the satellite-borne device includes the position, direction and speed of the sun, and has high precision and accuracy. At the same time, the optical axis pointing vector obtained by the laser communication terminal through the built-in attitude sensor and optical axis encoder also has high precision; when calculating the included angle, the system uses an optimized mathematical algorithm for efficient calculation, ensuring the accuracy and reliability of the calculation result. This helps to more accurately assess the transit risk and take appropriate avoidance measures; the optimized mathematical algorithm not only improves the calculation accuracy, but also significantly reduces the calculation time, enabling the system to respond more quickly to transit risks; the system can flexibly adjust the pointing of the optical axis according to the real-time changes of the solar vector, ensuring that the sun's direct radiation area is avoided in time before the transit occurs. At the same time, the avoidance strategy can also be adjusted and optimized according to actual needs; by detecting and avoiding the transit risk in real time, the system can significantly reduce the risk of communication interruption or performance degradation caused by direct sunlight, improving the safety and stability of the communication system; avoiding direct sunlight from shining on the optical system helps to reduce damage to the device caused by high temperature and light radiation, extending the service life of the device; through effective transit avoidance measures, the system can ensure that the communication quality remains high during the transit period, meeting the user's demand for communication stability and reliability; reducing the communication interruption time caused by the transit improves the usability and overall operating efficiency of the system. The above series of formulas can more accurately determine the direction of the sun's position relative to the satellite's optical axis, thereby effectively avoiding the transit phenomenon and ensuring the stability of the communication link; the automated calculation process reduces the need for ground control station intervention in satellite operations, improving the satellite system's autonomous operation capability; real-time monitoring and rapid response to changes in the solar vector reduce the risk of damage to the optical system caused by the transit, extending the service life of the satellite device; accurate included angle calculation helps to optimize the satellite's attitude adjustment, reducing unnecessary attitude maneuvers and thus saving fuel and other resources; by accurately calculating the included angle between the solar vector and the optical axis pointing vector, the interference of sunlight on the laser communication link can be minimized, enhancing the stability and reliability of the communication; the formula takes into account multiple variables and coordinate system conversion, making the calculation result more adaptable to complex space environments and satellite operating conditions; accurate included angle calculation not only applies to transit avoidance, but also supports the satellite in performing other tasks that require precise pointing, such as astronomical observation and earth observation.

[0100] In one embodiment of the present application, the S2 includes:

[0101] S21, determine the definition of the optical antenna azimuth-elevation two-dimensional coordinate system, the definition including the origin, the direction of the coordinate axis, and the unit;

[0102] S22, according to the mathematical principle of coordinate system conversion, select a conversion algorithm, the conversion algorithm including Euler angle conversion or quaternion conversion;

[0103] S23, convert the received sun vector data from the original coordinate system to the optical antenna azimuth-elevation two-dimensional coordinate system, calculate and determine the azimuth angle and the elevation angle of the sun vector in the new coordinate system;

[0104] S24, verify the conversion result; if an error is found, perform error handling and re-execute the conversion process;

[0105] S25, and store the converted sun vector azimuth and elevation values in the system.

[0106] The working principle of the above technical solution is: determine the definition of the antenna azimuth-elevation two-dimensional coordinate system, including the position of the coordinate system origin, the direction of the coordinate axis (usually including the azimuth axis and the elevation axis), and the selection of the coordinate unit. According to the mathematical principle of coordinate system conversion, select the appropriate conversion algorithm. Euler angle conversion is an intuitive conversion method, which represents the direction change through the rotation angle around different coordinate axes; while quaternion conversion has better numerical stability and calculation efficiency, and can avoid the gimbal lock problem. According to the system requirements and performance considerations, select the most appropriate conversion algorithm; use the selected conversion algorithm to convert the received sun vector data from the original coordinate system to the optical antenna azimuth-elevation two-dimensional coordinate system. During the conversion process, ensure that all components of the sun vector are transformed according to the correct mathematical relationship; in the optical antenna coordinate system, calculate the corresponding azimuth angle and elevation angle according to the converted sun vector coordinates. These two angle values will be used for subsequent optical axis adjustment strategy; in order to ensure the accuracy and reliability of the conversion, the conversion result needs to be verified. Through comparison with known data, internal consistency check or simulation verification using physical model, etc. Realize; if the conversion result is found to have errors or not meet the expectations, the system will perform error handling. May include recording error information, issuing warning signals or re-executing the conversion process, etc. Measures; store the converted sun vector azimuth and elevation values in the system for subsequent optical axis adjustment strategy and solar eclipse avoidance mode use. These data will be used as an important basis for system decision-making.

[0107] The effect of the above technical scheme is: by defining the definition of the light antenna azimuth-elevation two-dimensional coordinate system, including the origin, coordinate axis direction and unit, an accurate reference framework is provided for the conversion of the sun vector. This helps to reduce the positioning error caused by unclear or inconsistent coordinate system definition; selecting high-precision algorithms such as Euler angle conversion or quaternion conversion for coordinate system conversion can ensure that the accuracy loss of the sun vector in the conversion process is as small as possible. This helps to improve the accuracy of subsequent calculation of azimuth and elevation angles; strict verification of the conversion result ensures the accuracy and reliability of the conversion, which helps to discover and correct errors in the conversion process in time, and avoids using incorrect data for subsequent optical axis adjustment strategy and solar eclipse avoidance mode; if conversion errors are found, error handling and re-execution of the conversion process are performed. This mechanism can ensure that the system can quickly respond and resume normal work when facing abnormal situations, thereby enhancing the overall reliability of the system; according to the mathematical principle of coordinate system conversion, multiple algorithms such as Euler angle conversion and quaternion conversion are provided. This helps the system to select the most suitable conversion algorithm according to actual needs and performance considerations, thereby improving the flexibility and adaptability of the system; the azimuth and elevation values of the converted sun vector are stored in the system, providing important data support for subsequent optical axis adjustment strategy and solar eclipse avoidance mode. This data storage and utilization method helps the system to better cope with complex and variable communication environments; by selecting appropriate conversion algorithms and optimizing the calculation process, the computational complexity of the system in processing sun vector conversion can be reduced. This helps to improve the processing speed and response ability of the system, thereby optimizing system performance; by accurately calculating the azimuth and elevation angles of the sun vector in the light antenna coordinate system, and adjusting the optical axis direction accordingly, the influence of solar eclipse and other adverse factors on communication stability can be effectively avoided. This helps to improve the overall stability and reliability of the communication system; the system can autonomously receive sun vector data, execute conversion algorithms, verify conversion results and store converted data. This autonomous decision-making capability helps to reduce the possibility of human intervention and error operation, and improves the automation level and intelligent degree of the system.

[0108] In one embodiment of the present application, the S3 includes:

[0109] S31, extract the azimuth velocity component from the sun vector data, judge the velocity direction of the sun vector azimuth according to the positive and negative of the velocity component, a positive value indicates that the sun moves in the positive direction, and a negative value indicates that the sun moves in the negative direction;

[0110] S32, different avoidance strategies are set according to different velocity directions, one strategy is adopted when moving in the positive direction, and another strategy is adopted when moving in the negative direction; the strategy includes:

[0111] 1) If the azimuth velocity of the sun vector is positive, first rotate the azimuth motor in the positive direction by 5° (default, command can be set), then rotate the elevation motor in the elevation direction by 10° (default, command can be set);

[0112] 2) If the azimuth velocity of the sun vector is negative, first rotate the azimuth motor in the negative direction by 5° (default, command can be set), then rotate the elevation motor in the elevation direction by 10° (default, command can be set);

[0113] S33, refine the specific parameters of the avoidance strategy, including the angle of rotating the azimuth motor and the angle of rotating the elevation motor;

[0114] S34, set the specific parameters as default values and allow them to be changed by command; load the parameters of the avoidance strategy into the actuator and prepare to execute the avoidance action.

[0115] The working principle of the above technical solution is as follows: First, extract the velocity component in the azimuth direction from the sun vector data. The velocity component represents the moving speed of the sun in the azimuth direction (usually horizontal direction); then, determine the moving direction of the sun in the azimuth direction according to the positive and negative of the velocity component. A positive value indicates that the sun is moving in the positive direction in the azimuth (e.g. moving from east to west), and a negative value indicates that the sun is moving in the negative direction in the azimuth (e.g. moving from west to east); according to the moving direction of the sun in the azimuth, the system sets different avoidance strategies. If the sun moves in the positive direction, a strategy is adopted; if the sun moves in the negative direction, another strategy is adopted; each strategy includes specific rotation instructions for the azimuth motor and the elevation motor. For example, if the sun moves in the positive direction, the system first rotates the azimuth motor in the positive direction by a certain angle (e.g. 5°, but this value is default and can be adjusted by command), and then rotates the elevation motor in the elevation direction by a certain angle (e.g. 10°, also default and can be adjusted). If the sun moves in the negative direction, the rotation direction is reversed; refine the specific parameters in the avoidance strategy, including the angle of rotating the azimuth motor and the angle of rotating the elevation motor. These parameters need to be accurately set according to actual conditions and performance requirements; set the default values of these parameters, but allow them to be changed by external commands. In this way, the system can flexibly adjust the avoidance strategy in different scenarios to adapt to different communication needs and environmental conditions; load the refined and set parameters of the avoidance strategy into the actuator, i.e. the control system of the azimuth motor and the elevation motor; after loading is completed, the system is ready to execute the avoidance action. When the risk of solar eclipse is detected, the system will automatically or according to the command trigger the avoidance mode, and adjust the pointing direction of the optical axis according to the loaded avoidance strategy to avoid the area directly illuminated by the sun.

[0116] The effect of the above technical scheme is: by monitoring the solar vector azimuth speed in real time and setting the avoidance strategy accordingly, the system can quickly adjust the optical axis direction before or during the sunrise to avoid the direct sunlight area, thereby effectively reducing or avoiding the impact of the sunrise on the communication link and improving the communication stability; different avoidance strategies are set according to the positive and negative of the solar vector azimuth speed, so that the system can flexibly cope with different moving situations of the sun in the azimuth. This flexibility helps the system to maintain good communication performance at different times, in different seasons and at different geographical locations; the specific parameters of the avoidance strategy are refined, including the angles of the azimuth motor and the elevation motor, so that the avoidance action is more accurate and effective. The optimization helps to reduce unnecessary resource consumption and mechanical wear, while improving the success rate of the avoidance action; the specific parameters of the avoidance strategy are set as default values, but can be changed through instructions. This design allows users to flexibly adjust the avoidance strategy according to actual needs and environmental changes, improving the convenience and flexibility of operation; after loading the parameters of the avoidance strategy into the actuator, the system can automatically execute the avoidance action without human intervention. Through the highly automated design, the burden on the operator is reduced, and the running efficiency and reliability of the system are improved; by monitoring the solar vector data in real time and automatically analyzing and judging, the system can intelligently decide on the most appropriate avoidance strategy and execute it. This intelligent decision-making capability enables the system to quickly respond when faced with complex and variable communication environments, improving the intelligent level of the system.

[0117] In one embodiment of the present application, the S4 comprises:

[0118] S41, according to the set avoidance strategy, control the azimuth motor and the elevation motor of the optical antenna to rotate, and continuously monitor the rotation state during rotation;

[0119] S42, during the execution of the avoidance action, continuously monitor the angle between the optical axis and the solar vector; if the angle increases to above the safety threshold, it is judged that the avoidance is successful;

[0120] S43, set the recovery condition, such as after a fixed time (default 100s) or the angle increases to above the safety threshold;

[0121] S44, when the recovery condition is met, prepare to re-establish the laser communication link;

[0122] S45, control the optical antenna to rotate back to the original position or the direction of the target satellite; re-establish the laser communication link and test the communication quality; wherein the communication quality is calculated by the following formula:

[0123]

[0124] wherein P signal,i represents the component of the ith received signal power; Pnoice,i represents the i-th system power component; BER i represents the i-th signal component; N represents the total number of signal components; a represents the weight factor; b and g represent constants.

[0125] S46, after re-establishing the link, continue to monitor the angle between the optical axis and the sun vector; if the angle is found to be less than the safety threshold again, repeat the avoidance process.

[0126] The working principle of the above technical solution is: according to the pre-set avoidance strategy, the system controls the azimuth motor and the elevation motor of the optical antenna to rotate. These strategies may be based on the analysis of the sun vector data, aiming to point the optical axis to the area avoiding the direct sunlight; during the rotation process, the system continuously monitors the rotation state of the optical antenna to ensure that the avoidance action is executed according to the predetermined plan and avoid unexpected situations; during the execution of the avoidance action, the system continuously monitors the angle between the optical axis and the sun vector. This angle is a key indicator for evaluating the avoidance effect; if the angle increases to above the safety threshold, the system judges that the avoidance is successful. This means that the optical axis has successfully avoided the direct sunlight area, and the laser communication link is no longer directly affected by the day-night transition; the system sets the recovery condition to re-establish the laser communication link after the avoidance action is successful. The recovery condition may include a fixed time (such as default 100 seconds) or the angle remaining above the safety threshold; when the recovery condition is met, the system enters the preparation stage of link re-establishment. This includes checking the state of the optical antenna, adjusting the communication parameters, etc.; the system controls the optical antenna to rotate back to the original position or the direction of the target satellite to prepare for the re-establishment of the laser communication link; after the optical antenna is aligned with the target satellite, the system attempts to re-establish the laser communication link; after establishing the link, the system performs communication quality test to ensure the stability and reliability of the link; after re-establishing the link, the system continues to monitor the angle between the optical axis and the sun vector. If the angle is found to be less than the safety threshold again, i.e. there is a risk of day-night transition, the system repeats the avoidance process. Including rotating the optical antenna again, monitoring the angle, judging the success of avoidance, etc., until the optical axis is stable in the safe area.

[0127] The effect of the above technical solution is that according to the set avoidance strategy, S4 can control the azimuth motor and the elevation motor of the optical antenna to rotate in real time to avoid the direct sunlight area. It ensures that the communication link can be quickly restored and stabilized when the sun is rising. During the rotation process, the rotation state is continuously monitored to ensure that the avoidance action is accurate. At the same time, the angle between the optical axis and the sun vector is continuously monitored to evaluate the avoidance effect in real time and provide data support for subsequent decision-making. Flexible recovery conditions are set, such as after a fixed time or when the angle increases to above the safety threshold, which helps the system to choose the most suitable time to re-establish the laser communication link according to the actual situation. Once the recovery condition is met, the system can quickly prepare and re-establish the laser communication link, thereby minimizing the communication interruption time. After re-establishing the laser communication link, the communication quality is tested to ensure the stability and reliability of the link. It helps to discover and solve potential communication problems in time and improve the performance of the entire communication system. If the angle is found to be less than the safety threshold again after the link is re-established, the system can repeat the avoidance process. The repeated avoidance capability ensures that the system can maintain the stability and reliability of communication when facing complex and variable sunrise conditions. The entire avoidance and recovery process is highly automated, reducing the need for human intervention. Not only does it reduce the workload of the operator, but it also improves the response speed and accuracy of the system. The system can make intelligent decisions based on real-time data, such as determining whether the avoidance is successful and when to re-establish the link. This intelligent decision-making capability makes the system more flexible and efficient. The S4 technical solution can adapt to different times, different seasons, and different geographical locations of the sunrise. By flexibly adjusting the avoidance strategy and recovery conditions, the system can maintain stable communication in different environments. The system can flexibly adjust the avoidance action and recovery strategy according to the actual situation to deal with various complex situations that may arise. This flexibility enables the system to respond quickly and restore communication when facing unexpected situations.The above formula; by considering multiple signal components and different weight factors, the actual performance of the communication link can be more accurately reflected; the weight factors and logarithmic exponential functions in the formula allow adjustment according to different communication environments, system requirements and application scenarios, increasing the flexibility of the evaluation method; the formula considers multiple dimensions such as signal power, noise, bit error rate, etc., which can more comprehensively evaluate the communication quality; by analyzing the contribution of different signal components to the communication quality, it can be identified which factors have the greatest impact on the communication quality, so as to be targeted for optimization; the above can adapt to various communication scenarios, including complex situations such as multi-path propagation and multi-signal source interference; through quantitative evaluation of communication quality, it can help predict the performance of the system under certain conditions, thereby providing guidance for system design and maintenance; by evaluating the communication quality of different signal components, resources such as power and bandwidth can be more effectively allocated to improve overall system performance; when the communication quality decreases, possible fault points or interference sources can be quickly located by analyzing each component in the formula; through weighted summation, the influence of certain key signal components on communication quality can be emphasized, rather than simply averaging; the constant β ensures that the formula remains valid even when the noise power is very low, avoiding mathematical uncertainty and calculation errors; the exponential processing of the bit error rate can amplify its impact on communication quality, as even a small bit error rate can have serious consequences for communication.

[0128] In one embodiment of the present application, the S41 comprises:

[0129] S411, dynamically adjusting the detailed parameters of the evasion strategy according to the current environmental conditions and the potential threat level, the dynamic parameters including the evasion angle, the speed curve and the acceleration limit;

[0130] S412, before executing the evasion action, using a high-precision GPS system and a satellite-borne gyroscope to accurately position and calibrate the attitude of the satellite; including determining the current position, velocity vector and deviation from the predetermined orbit of the satellite;

[0131] S413, through a multi-axis cooperative control algorithm, based on an optimized control law to reduce mutual interference, and introducing a predictive control strategy to predict and compensate for nonlinear factors in the motor rotation process in advance;

[0132] S414, subdividing the evasion action into multiple stages, each stage using different acceleration and speed settings;

[0133] S415, during the rotation of the optical antenna, real-time monitoring of key parameters fed back by the system, and changes in the optical axis direction;

[0134] S416, based on the dynamic model, the turning track is predicted, and the control parameters are dynamically adjusted according to the deviation of the actual monitoring data and the predicted value, such as adjusting the acceleration, and the deceleration point in advance;

[0135] S417, an abnormality detection mechanism is established, and abnormal conditions are monitored in real time, the abnormal conditions include motor temperature and vibration, and if an abnormality is found, an emergency handling process is triggered immediately. The and handling process includes deceleration shutdown, switching to a backup motor or executing an emergency avoidance path.

[0136] The working principle of the above technical solution is that the system analyzes the preset avoidance strategy, which comprehensively considers various information sources such as historical data, satellite orbit prediction, real-time weather forecast, solar position prediction, and space debris warning. Through the evaluation of the current environmental conditions and the level of potential threats, the system dynamically adjusts the detailed parameters of the avoidance strategy, such as avoidance angle, speed curve and acceleration limit; before executing the avoidance action, the system uses high-precision GPS system and on-board gyroscope to accurately position and calibrate the satellite attitude; through the existing multi-axis cooperative control algorithm, the dynamic coupling effect between the azimuth motor and the pitch motor is processed; in order to balance the rapidity and smoothness of the avoidance action, the system subdivides the avoidance action into multiple stages, and sets different accelerations and speeds for each stage. A smaller acceleration is used in the initial stage to make the optical antenna slowly deviate from the original direction to reduce the impact on the communication link. As the avoidance action deepens, the system gradually increases the acceleration until it reaches the preset maximum speed. During the acceleration and deceleration process, the system uses a flexible control strategy to avoid mechanical impact and protect the motor and transmission mechanism; during the rotation of the optical antenna, the system monitors the key parameters (such as motor current, speed, position) and the change of the optical axis direction in real time. At the same time, based on the dynamic model, the turning track is predicted, and the control parameters (such as acceleration, deceleration point in advance) are dynamically adjusted according to the deviation of the actual monitoring data and the predicted value; in order to prevent unexpected situations during the avoidance action, the system establishes an abnormality detection mechanism to monitor abnormal conditions such as motor temperature and vibration in real time. Once an abnormality is found, the system immediately triggers an emergency handling process, including deceleration shutdown, switching to a backup motor or executing an emergency avoidance path.

[0137] The effect of the above technical scheme is: through fusing multi-source information (historical data, satellite orbit prediction, real-time weather forecast, solar position prediction, space debris warning, etc.) to dynamically adjust the avoidance strategy, the current environmental conditions and potential threat level can be more accurately evaluated, and a more accurate and safe avoidance path can be formulated. Through the combination of real-time monitoring system feedback and dynamic model prediction, the system can timely discover and correct the deviation in the rotation process, ensure that the avoidance action is performed according to the predetermined trajectory, and improve the accuracy of the avoidance; according to the environmental changes, the detailed parameters (such as avoidance angle, speed curve, acceleration limit) of the avoidance strategy are automatically adjusted, which enhances the self-adaptability of the system to complex environment. Through the introduction of multi-axis cooperative control algorithm and predictive control strategy, the system can predict and compensate non-linear factors such as friction and inertia delay in advance during the motor rotation, further improving the control accuracy and stability of the system. The avoidance action and flexible control strategy executed in stages effectively avoid mechanical impact, reduce the wear of the motor and transmission mechanism, and prolong the service life of the equipment. The establishment of the abnormality detection mechanism and the emergency handling process can take measures (such as slowing down and stopping, switching to a backup motor, executing an emergency avoidance path, etc.) in time when abnormal conditions occur, protecting the satellite and optical antenna from damage. In the initial stage, a smaller acceleration is used to make the optical antenna slowly deviate from the original direction, reducing the impact on the communication link and ensuring the continuity of the communication. The optical axis pointing change feedback by the real-time monitoring system is helpful to timely adjust the control strategy and ensure that the communication link can be quickly restored after the avoidance action is completed. The technical scheme comprehensively uses various advanced technologies and methods (such as high-precision positioning and attitude calibration, multi-axis cooperative control, dynamic model prediction, real-time monitoring and feedback, etc.), which significantly improves the overall performance and reliability of the satellite laser communication system. The improvement of the emergency handling process also improves the fault handling capability and survivability of the system, so that the system can quickly recover and continue to perform tasks when facing unexpected situations.

[0138] In one embodiment of the present application, the S416 comprises:

[0139] Real-time collection of raw data from sensors (such as encoders, gyroscopes, accelerometers, etc.), processing of data through data fusion algorithms (such as Kalman filtering, particle filtering, etc.), and extraction of key information useful for trajectory prediction;

[0140] Based on the preset dynamic model and the real-time processed data, a predicted trajectory of the optical antenna for a period of time in the future is generated; at the same time, a multi-objective optimization algorithm (such as genetic algorithm, particle swarm optimization, etc.) is used to evaluate the predicted trajectory;

[0141] Compare the actually monitored key parameters of the optical antenna with the predicted trajectory to detect whether there is a deviation; if there is a deviation, analyze the reason for the deviation through a rule-based reasoning algorithm to identify the reason for the deviation;

[0142] According to the deviation detection result and cause analysis, a targeted dynamic adjustment strategy is formulated;

[0143] The dynamic adjustment strategy is applied to the control system in real time, and the actual trajectory of the optical antenna is continuously corrected through a closed-loop control mechanism, so that it gradually approaches the predicted trajectory. At the same time, the system response and performance indicators after adjustment are continuously monitored;

[0144] The experience data in each adjustment process is recorded and analyzed, and machine learning or reinforcement learning technology is used to learn these data, and the dynamic model and adjustment strategy are continuously optimized.

[0145] The working principle of the above technical solution is as follows: the system collects real-time data from sensors (such as encoders, gyroscopes, accelerometers, etc.), which reflect the current state and motion of the optical antenna. Through data fusion algorithms (such as Kalman filtering, particle filtering, etc.), the raw data is processed, and key information useful for trajectory prediction is extracted. Based on the preset dynamic model and real-time processed data, the system generates a predicted trajectory of the optical antenna for a certain period of time in the future. The predicted trajectory is evaluated using multi-objective optimization algorithms (such as genetic algorithms, particle swarm optimization, etc.) to ensure its feasibility and effectiveness in actual operation. The system monitors key parameters (such as position, velocity, etc.) of the optical antenna in real time, and compares these actual monitoring data with the predicted trajectory. If a deviation is found between the actual trajectory and the predicted trajectory, the system analyzes the reasons for the deviation through rule-based reasoning algorithms, and identifies possible reasons for the deviation, such as improper control parameter settings, external environmental changes, or system internal faults, etc. According to the deviation detection result and cause analysis, the system formulates a targeted dynamic adjustment strategy. These adjustment strategies may include adjusting control parameters (such as acceleration, speed set points), optimizing control algorithms (such as adjusting control gains, introducing adaptive control strategies), and changing control strategies themselves (such as switching from position control to force / torque control), etc. The dynamic adjustment strategy is applied to the control system in real time, and the actual trajectory of the optical antenna is continuously corrected through a closed-loop control mechanism, so that it gradually approaches the predicted trajectory. During this process, the system continuously monitors the system response and performance indicators after adjustment to ensure the effectiveness of the adjustment strategy. The experience data (such as deviation types, adjustment strategies and their effects) in each adjustment process is recorded and analyzed. These data are important basis for system optimization and improvement. Machine learning or reinforcement learning technology is used to learn these data, and the dynamic model and adjustment strategy are continuously optimized.

[0146] The effect of the above technical scheme is that the original data from multiple sensors is collected and processed in real time, noise is effectively eliminated through a data fusion algorithm, and the data accuracy is improved. The system can timely discover deviations and analyze the reasons for the deviations according to the comparison results of real-time data and predicted trajectories. Based on these analysis results, the system can formulate targeted dynamic adjustment strategies to quickly respond to external environmental changes and internal faults, thereby significantly enhancing the adaptive ability of the system. The dynamic adjustment strategy is not limited to adjusting control parameters, but also includes optimizing control algorithms and changing the control strategy itself. Through all-round optimization, the system can better cope with complex and variable environments and potential threats, thereby improving the flexibility and effectiveness of control. Through a closed-loop control mechanism, the actual trajectory of the optical antenna is continuously corrected to gradually approach the predicted trajectory, which helps to reduce system instability factors caused by trajectory deviations. At the same time, the system response and performance indicators after adjustment are continuously monitored to ensure that the system always operates in the best state, thereby improving the stability and reliability of the system. The experience data during each adjustment process is recorded and analyzed, and machine learning or reinforcement learning technology is used to learn from these data to continuously optimize the dynamic model and adjustment strategy. This intelligent learning and optimization mechanism enables the system to continuously accumulate experience and improve performance, thereby providing more accurate and efficient guidance for future evasion actions.

[0147] One embodiment of the present application, as shown in Figure 2 A sunlight direct irradiation avoidance system for intersatellite laser communication, the system comprises:

[0148] An autonomous avoidance module: an included angle is determined in real time according to a satellite broadcast sun vector and a current optical axis pointing vector, and if the included angle is less than 3°, the autonomous avoidance module enters a solar eclipse avoidance mode;

[0149] A coordinate conversion module: the sun vector is converted to an optical antenna azimuth-elevation two-dimensional coordinate system to determine the azimuth and elevation values of the sun vector;

[0150] A direction determination module: the direction of the sun vector velocity is determined;

[0151] 1. If the azimuth velocity of the sun vector is positive, first rotate the azimuth motor in the positive direction by 5° (default, the command can be set), and then rotate the elevation motor in the elevation direction by 10° (default, the command can be set);

[0152] 2. If the azimuth velocity of the sun vector is negative, first rotate the azimuth motor in the negative direction by 5° (default, the command can be set), and then rotate the elevation motor in the elevation direction by 10° (default, the command can be set);

[0153] A re-linking module: after a fixed time (default 100s) or after the autonomous calculation of the theoretical pointing and the included angle of the sun vector is greater than 3°, the solar eclipse avoidance is ended, and the re-linking is performed.

[0154] The working principle of the above technical solution is as follows: the system acquires the sun vector (indicating the position and direction of the sun relative to the satellite) and the current optical axis pointing vector (indicating the direction of the laser communication optical axis) broadcast by the satellite in real time; the included angle between the two vectors is calculated; if the included angle is less than a set threshold (such as 3°), it is considered that there is a high risk of solar eclipse, and the system automatically enters the eclipse avoidance mode to avoid or reduce the impact of solar eclipse on communication; the sun vector is converted from the original coordinate system to the azimuth-elevation two-dimensional coordinate system of the optical antenna. It is convenient to control the azimuth and elevation angle of the optical antenna in the subsequent to avoid the direct sunlight; in the optical antenna coordinate system, the specific azimuth angle and elevation angle value of the sun vector are determined to provide an accurate target position for subsequent adjustment; according to the direction (positive or negative) of the speed of the sun vector in the azimuth, it is judged which direction the sun moves; if the azimuth speed of the sun vector is positive, it means that the sun is moving towards the positive direction of the optical antenna, and the system first rotates the azimuth motor in the positive direction by a certain angle (such as 5°) to avoid the sun path in advance; then rotate the elevation motor in the elevation direction by a certain angle (such as 10°) to further move away from the direct sunlight area. If the azimuth speed of the sun vector is negative, the opposite adjustment strategy is adopted, first rotate the azimuth motor in the negative direction, then rotate the elevation motor; the system determines when to end the eclipse avoidance mode according to one of the two conditions: one is to reach a set fixed time (such as 100 seconds), and the other is to confirm by self-computing that the included angle between the current optical axis pointing and the sun vector is greater than the set threshold (such as 3°); when the avoidance end condition is met, the system adjusts the optical axis back to the original communication pointing, re-establishes the laser communication link, and restores the normal communication state.

[0155] The effect of the above technical scheme is: by calculating the included angle between the sun vector and the optical axis pointing vector in real time, and autonomously entering the eclipse avoidance mode when the included angle is less than the preset threshold, without manual intervention, the autonomy and response speed of the system are greatly improved; according to the real-time change of the sun vector, the pointing of the optical antenna is dynamically adjusted to ensure that the sun direct radiation area is avoided in time before the eclipse; the sun vector is accurately converted into the azimuth-elevation two-dimensional coordinate system of the optical antenna, and the specific azimuth and elevation values of the sun are determined, which provides a basis for accurate adjustment of the optical antenna; different adjustment strategies are adopted according to the positive and negative of the azimuth speed of the sun vector, which flexibly responds to different situations and ensures the maximization of the avoidance effect; through the two-step adjustment strategy of first rotating the azimuth motor and then rotating the elevation motor, the optical axis is quickly pointed away from the area directly irradiated by the sun, effectively avoiding the interference of the eclipse on the communication; during the avoidance process, the system can continuously monitor the included angle between the sun vector and the optical axis, and timely restore the communication link when the end condition is met, ensuring the stability and continuity of the communication; the rotation angle (such as 5°, 10°) and the fixed time (such as 100s) mentioned in the scheme are default values, which can be adjusted according to actual needs, improving the customizability and flexibility of the scheme; the technical scheme can be easily integrated into the existing inter-satellite laser communication system, and can be upgraded and optimized with the development of technology; through effective eclipse avoidance, the risk of communication interruption caused by direct sunlight is significantly reduced, and the reliability and usability of the communication system are improved; direct sunlight of strong sunlight to the optical system is avoided, reducing the damage to the equipment caused by high temperature and light radiation, prolonging the service life of the equipment.

[0156] In an embodiment of the present application, the autonomous avoidance module comprises:

[0157] The data receiving module: the satellite-borne device receives the latest sun vector data broadcast by the satellite system in a timely manner, and the sun vector data includes the position, direction and speed of the sun;

[0158] The vector acquisition module: the laser communication terminal acquires the accurate pointing vector of the current optical axis in real time through the built-in attitude sensor and optical axis encoder, and the pointing vector includes the azimuth angle and the elevation angle;

[0159] The included angle calculation module: the included angle between the received sun vector and the current optical axis pointing vector is calculated by vector dot product or vector included angle formula;

[0160] The threshold comparison module: the calculated included angle is compared with the preset safety threshold (such as 3°);

[0161] If the included angle is less than the safety threshold, it indicates that the optical axis may be close to the direction of the sun, and there is a risk of eclipse;

[0162] If the included angle is confirmed to be less than the safety threshold, the system automatically triggers the transit avoidance mode; after entering the avoidance mode, the system immediately executes the next avoidance strategy.

[0163] The working principle of the technical solution is as follows: through the equipment installed on the satellite, various data from the satellite system are received and processed; the equipment receives the latest sun vector data broadcast by the satellite system at a predetermined time interval. The data includes the accurate position, direction and speed information of the sun relative to the satellite; the terminal equipment responsible for laser communication has high-precision pointing and tracking capability; the sensors and encoders built-in the laser communication terminal can sense and measure the accurate pointing vector of the current optical axis in real time. The pointing vector is expressed in the form of azimuth angle and elevation angle, which describes the specific direction of the optical axis in space; the included angle between the received sun vector and the current optical axis pointing vector is calculated by using vector dot product or vector included angle formula. Considering the requirements of calculation accuracy and efficiency, the system uses optimized mathematical algorithms for efficient calculation. The algorithm may include reducing the amount of calculation, improving the calculation accuracy or using parallel computing and other technical means; the calculated included angle is compared with the preset safety threshold (such as 3°). The safety threshold is set according to the system design and communication requirements, which is used to judge whether the optical axis is close to the sun direction, so as to evaluate the risk of the transit. If the included angle is less than the safety threshold, it indicates that the optical axis may be close to the sun direction, and there is a high risk of the transit. At this time, the system needs to take further measures to avoid this risk; once the included angle is confirmed to be less than the safety threshold, the system will automatically trigger the transit avoidance mode. This process does not require ground command intervention and is completely completed by the system itself. After entering the avoidance mode, the system will immediately execute the next avoidance strategy to adjust the pointing of the optical axis and move away from the sun direct radiation area.

[0164] The effect of the above technical scheme is that the system can autonomously receive solar vector data and optical axis pointing vector, calculate the included angle between the two in real time, and determine whether to trigger the transit avoidance mode according to the included angle. This process does not require ground command intervention, greatly improving the autonomy and response speed of the system; once the transit risk is found, the system can immediately enter the avoidance mode and execute the corresponding avoidance strategy, effectively avoiding communication interruption or performance degradation caused by the transit; the solar vector data received by the satellite-borne device includes the position, direction and speed of the sun, and has high precision and accuracy. At the same time, the optical axis pointing vector obtained by the laser communication terminal through the built-in attitude sensor and optical axis encoder also has high precision; when calculating the included angle, the system uses an optimized mathematical algorithm for efficient calculation, ensuring the accuracy and reliability of the calculation result. This helps to more accurately assess the transit risk and take corresponding avoidance measures; the optimized mathematical algorithm not only improves the calculation accuracy, but also significantly reduces the calculation time, enabling the system to respond more quickly to transit risks; the system can flexibly adjust the pointing of the optical axis according to the real-time changes of the solar vector, ensuring that the sun's direct radiation area is avoided in time before the transit occurs. At the same time, the avoidance strategy can also be adjusted and optimized according to actual needs; by detecting and avoiding the transit risk in real time, the system can significantly reduce the risk of communication interruption or performance degradation caused by direct sunlight, improving the safety and stability of the communication system; avoiding direct sunlight from shining on the optical system helps to reduce damage to the device caused by high temperature and light radiation, extending the service life of the device; through effective transit avoidance measures, the system can ensure that the communication quality remains high during the transit period, meeting the user's demand for communication stability and reliability; reducing the communication interruption time caused by the transit improves the usability and overall operation efficiency of the system.

[0165] In an embodiment of the present application, the coordinate conversion module comprises:

[0166] The definition determination module determines the definition of the azimuth-elevation two-dimensional coordinate system of the optical antenna, which includes the origin, coordinate axis direction and unit.

[0167] The algorithm selection module selects a conversion algorithm according to the mathematical principle of coordinate system conversion, which includes Euler angle conversion or quaternion conversion.

[0168] The coordinate conversion module converts the received solar vector data from the original coordinate system to the azimuth-elevation two-dimensional coordinate system of the optical antenna, calculates and determines the azimuth angle and elevation angle of the solar vector in the new coordinate system.

[0169] The result verification module verifies the conversion result; if a conversion error is found, error handling is performed and the conversion process is re-executed.

[0170] Numerical storage module: and the converted sun vector azimuth, elevation value storage in the system.

[0171] The working principle of the above technical solution is: to determine the definition of the antenna azimuth-elevation two-dimensional coordinate system, including the position of the coordinate system origin, the direction of the coordinate axis (usually including azimuth axis and elevation axis) and the selection of coordinate unit. According to the mathematical principle of coordinate system conversion, select the appropriate conversion algorithm. Euler angle conversion is an intuitive conversion method, which represents the direction change by the rotation angle around different coordinate axes; while the quaternion conversion has better numerical stability and calculation efficiency, which can avoid the gimbal lock problem. According to the system requirements and performance considerations, select the most appropriate conversion algorithm; use the selected conversion algorithm to convert the received sun vector data from the original coordinate system to the optical antenna azimuth-elevation two-dimensional coordinate system. During the conversion process, ensure that all components of the sun vector are transformed according to the correct mathematical relationship; in the optical antenna coordinate system, calculate the corresponding azimuth angle and elevation angle according to the converted sun vector coordinates. These two angle values will be used for subsequent optical axis adjustment strategy; in order to ensure the accuracy and reliability of the conversion, the conversion result needs to be verified. Through comparison with known data, internal consistency check or simulation verification using physical model, etc. Realize; if the conversion result is found to have errors or not meet the expectations, the system will handle the error. May include recording error information, issuing warning signals or re-executing the conversion process and other measures; store the converted sun vector azimuth, elevation value in the system for subsequent optical axis adjustment strategy and solar eclipse avoidance mode. These data will be used as an important basis for system decision-making.

[0172] The effect of the above technical scheme is: by defining the definition of the light antenna azimuth-elevation two-dimensional coordinate system, including the origin, coordinate axis direction and unit, an accurate reference framework is provided for the conversion of the sun vector. This helps to reduce the positioning error caused by unclear or inconsistent definition of the coordinate system; high-precision algorithms such as Euler angle conversion or quaternion conversion are selected for coordinate system conversion, which can ensure that the accuracy loss of the sun vector in the conversion process is as small as possible. This helps to improve the accuracy of subsequent calculation of azimuth and elevation angles; the conversion result is strictly verified to ensure the accuracy and reliability of the conversion, which helps to discover and correct errors in the conversion process in time and avoid using incorrect data for subsequent optical axis adjustment strategy and solar eclipse avoidance mode; if conversion errors are found, error handling and re-execution of the conversion process are performed. This mechanism can ensure that the system can respond quickly and resume normal work when facing abnormal situations, thereby enhancing the overall reliability of the system; according to the mathematical principle of coordinate system conversion, multiple algorithms such as Euler angle conversion and quaternion conversion are provided. This helps the system to select the most suitable conversion algorithm according to actual needs and performance considerations, thereby improving the flexibility and adaptability of the system; the azimuth and elevation values of the converted sun vector are stored in the system, providing important data support for subsequent optical axis adjustment strategy and solar eclipse avoidance mode. This data storage and utilization method helps the system to better cope with complex and variable communication environments; by selecting appropriate conversion algorithms and optimizing the calculation process, the computational complexity of the system in processing sun vector conversion can be reduced. This helps to improve the processing speed and response capability of the system, thereby optimizing system performance; by accurately calculating the azimuth and elevation angles of the sun vector in the light antenna coordinate system and adjusting the optical axis direction accordingly, the influence of solar eclipse and other adverse factors on communication stability can be effectively avoided. This helps to improve the overall stability and reliability of the communication system; the system can autonomously receive sun vector data, execute conversion algorithms, verify conversion results and store converted data. This autonomous decision-making capability helps to reduce the possibility of human intervention and error operation, and improves the automation level and intelligent degree of the system.

[0173] In an embodiment of the present application, the direction judgment module comprises:

[0174] The component extraction module extracts the azimuth velocity component from the sun vector data, and judges the velocity direction of the sun vector azimuth according to the positive and negative of the velocity component. A positive value indicates that the sun moves in the positive direction in the azimuth, and a negative value indicates that the sun moves in the negative direction in the azimuth.

[0175] The strategy setting module sets different avoidance strategies according to the different velocity directions. One strategy is adopted when the sun moves in the positive direction, and another strategy is adopted when the sun moves in the negative direction. The strategy includes:

[0176] 1) If the azimuthal velocity of the sun vector is positive, first rotate the azimuth motor in the positive direction by 5° (default, command can be set), then rotate the elevation motor in the elevation direction by 10° (default, command can be set);

[0177] 2) If the azimuthal velocity of the sun vector is negative, first rotate the azimuth motor in the negative direction by 5° (default, command can be set), then rotate the elevation motor in the elevation direction by 10° (default, command can be set);

[0178] Parameter refinement module: refine the specific parameters of the avoidance strategy, including the angle of rotating the azimuth motor and the angle of rotating the elevation motor;

[0179] Command change module: set the specific parameters as default values and allow them to be changed by command; load the parameters of the avoidance strategy into the actuator to prepare for the avoidance action.

[0180] The working principle of the above technical solution is as follows: First, extract the azimuthal velocity component from the sun vector data. The velocity component represents the moving speed of the sun in the azimuth direction (usually horizontal direction); then, determine the moving direction of the sun in the azimuth direction according to the positive and negative of the velocity component. A positive value indicates that the sun is moving in the positive direction in the azimuth (e.g. moving from east to west), and a negative value indicates that the sun is moving in the negative direction in the azimuth (e.g. moving from west to east); according to the moving direction of the sun in the azimuth, the system sets different avoidance strategies. If the sun moves in the positive direction, one strategy is adopted; if the sun moves in the negative direction, another strategy is adopted; each strategy includes specific rotation instructions for the azimuth motor and the elevation motor. For example, if the sun moves in the positive direction, the system first rotates the azimuth motor in the positive direction by a certain angle (e.g. 5°, but this value is default and can be adjusted by command), and then rotates the elevation motor in the elevation direction by a certain angle (e.g. 10°, also default and can be adjusted). If the sun moves in the negative direction, the rotation direction is reversed; refine the specific parameters in the avoidance strategy, including the angle of rotating the azimuth motor and the angle of rotating the elevation motor. These parameters need to be accurately set according to actual conditions and performance requirements; set the default values of these parameters, but allow them to be changed by external commands. In this way, the system can flexibly adjust the avoidance strategy in different scenarios to adapt to different communication needs and environmental conditions; load the parameters of the refined and set avoidance strategy into the actuator, i.e. the control system of the azimuth motor and the elevation motor; after loading is completed, the system is ready to execute the avoidance action. When the risk of solar eclipse is detected, the system will automatically or according to the command trigger the avoidance mode, and adjust the pointing direction of the optical axis according to the loaded avoidance strategy to avoid the direct sunlight area.

[0181] The effect of the above technical scheme is: by monitoring the solar vector azimuth speed in real time and setting the avoidance strategy accordingly, the system can quickly adjust the optical axis direction before or during the sunrise to avoid the direct sunlight area, thereby effectively reducing or avoiding the impact of the sunrise on the communication link and improving the communication stability; different avoidance strategies are set according to the positive and negative of the solar vector azimuth speed, so that the system can flexibly cope with different moving situations of the sun in the azimuth. This flexibility helps the system to maintain good communication performance at different times, in different seasons and at different geographical locations; the specific parameters of the avoidance strategy are refined, including the angles of the azimuth motor and the elevation motor, so that the avoidance action is more accurate and effective. The optimization helps to reduce unnecessary resource consumption and mechanical wear, while improving the success rate of the avoidance action; the specific parameters of the avoidance strategy are set as default values, but can be changed through instructions. This design allows users to flexibly adjust the avoidance strategy according to actual needs and environmental changes, improving the convenience and flexibility of operation; after loading the parameters of the avoidance strategy into the actuator, the system can automatically execute the avoidance action without human intervention. Through highly automated design, the burden on the operator is reduced, and the running efficiency and reliability of the system are improved; by monitoring the solar vector data in real time and automatically analyzing and judging, the system can intelligently decide on the most appropriate avoidance strategy and execute it. This intelligent decision-making capability enables the system to quickly respond when faced with complex and variable communication environments, improving the intelligent level of the system.

[0182] In an embodiment of the present application, the re-linking module comprises:

[0183] The state monitoring module: controls the azimuth motor and the elevation motor of the optical antenna to rotate according to the set avoidance strategy, and continuously monitors the rotation state during rotation;

[0184] The avoidance judgment module: continuously monitors the angle between the optical axis and the solar vector during the execution of the avoidance action; if the angle increases to above the safety threshold, it is judged that the avoidance is successful;

[0185] The condition setting module: sets the recovery condition, such as after a fixed time (default 100s) or when the angle increases to above the safety threshold;

[0186] The condition satisfaction module: when the recovery condition is met, it prepares to re-establish the laser communication link;

[0187] The quality test module: controls the optical antenna to rotate back to the original position or the direction of the target satellite; re-establishes the laser communication link and performs communication quality test;

[0188] The iterative avoidance module: after re-linking, it continues to monitor the angle between the optical axis and the solar vector; if it is found that the angle is again less than the safety threshold, it repeats the avoidance process.

[0189] The working principle of the above technical solution is: according to the pre-set avoidance strategy, the system controls the azimuth motor and the elevation motor of the optical antenna to rotate. These strategies may be based on the analysis of solar vector data, aiming to point the optical axis to the area away from the direct sunlight; during the rotation process, the system continuously monitors the rotation state of the optical antenna to ensure that the avoidance action is performed according to the predetermined plan and avoid unexpected situations; during the execution of the avoidance action, the system continuously monitors the angle between the optical axis and the solar vector. This angle is a key indicator for evaluating the avoidance effect; if the angle increases above the safety threshold, the system judges that the avoidance is successful. This means that the optical axis has successfully avoided the direct sunlight area, and the laser communication link is no longer directly affected by the day-night transition; the system sets the recovery condition to re-establish the laser communication link after the avoidance action is successful. The recovery condition may include a fixed time (such as the default 100 seconds) or the angle remaining above the safety threshold; when the recovery condition is met, the system enters the preparation stage of link reconstruction. This includes checking the state of the optical antenna, adjusting the communication parameters, etc.; the system controls the optical antenna to rotate back to the original position or the direction of the target satellite to prepare for the re-establishment of the laser communication link; after the optical antenna is aligned with the target satellite, the system attempts to re-establish the laser communication link; after the link is established, the system performs communication quality testing to ensure the stability and reliability of the link; after the re-establishment of the link, the system continues to monitor the angle between the optical axis and the solar vector. If it is found that the angle is less than the safety threshold again, i.e. there is a risk of day-night transition, the system repeats the avoidance process. Including steps such as controlling the optical antenna to rotate again, monitoring the angle, judging the avoidance success, etc., until the optical axis is stable in the safe area.

[0190] The effect of the above technical scheme is that the azimuth motor and the elevation motor of the optical antenna can be controlled in real time according to the set avoidance strategy to avoid the direct sunlight area. The communication link can be quickly restored and stabilized when the sun is in the sky. The rotation state is continuously monitored during the rotation to ensure the accuracy of the avoidance action. At the same time, the angle between the optical axis and the sun vector is continuously monitored to evaluate the avoidance effect in real time and provide data support for subsequent decision-making. Flexible recovery conditions are set, such as after a fixed time or when the angle increases to above the safety threshold, which helps the system to select the most suitable time to re-establish the laser communication link according to the actual situation. Once the recovery condition is met, the system can quickly prepare and re-establish the laser communication link, thereby minimizing the communication interruption time. After re-establishing the laser communication link, the communication quality is tested to ensure the stability and reliability of the link. This helps to discover and solve potential communication problems in time and improve the performance of the entire communication system. If the angle is found to be less than the safety threshold again after the link is re-established, the system can repeat the avoidance process. The repeated avoidance ensures the stability and reliability of the system in the face of complex and variable sun-in-sky situations. The entire avoidance and recovery process is highly automated, reducing the need for human intervention. This not only reduces the workload of the operator, but also improves the response speed and accuracy of the system. The system can make intelligent decisions based on real-time data, such as determining whether the avoidance is successful and when to re-establish the link. This intelligent decision-making capability makes the system more flexible and efficient. The technical scheme can adapt to different times, different seasons, and different geographical locations of the sun-in-sky situation. By flexibly adjusting the avoidance strategy and recovery conditions, the system can maintain stable communication in different environments. The system can flexibly adjust the avoidance action and recovery strategy according to the actual situation to cope with various complex situations. This flexibility enables the system to quickly respond and restore communication in the face of unexpected situations.

[0191] Obviously, those skilled in the art can make various modifications and variations to the present application without departing from the spirit and scope of the present application. Therefore, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application also intends to include these modifications and variations.

Claims

1. A method for avoiding solar interference in inter-satellite laser communication under direct sunlight, characterized in that, The method comprises: S1, judging the included angle in real time according to the satellite broadcast sun vector and the current optical axis pointing vector, and if the included angle is less than 3°, autonomously entering the eclipse avoidance mode; S2, converting the sun vector to the optical antenna azimuth-elevation two-dimensional coordinate system to determine the azimuth and elevation values of the sun vector; S3, judging the sun vector speed direction; S4, ending the eclipse avoidance and re-establishing the chain after a fixed time or after autonomously calculating the theoretical pointing and the sun vector included angle > 3°, comprising: controlling the azimuth motor and the elevation motor of the optical antenna to rotate according to the set avoidance strategy, and continuously monitoring the rotation state in the rotation process; comprising: S411, dynamically adjusting the detailed parameters of the avoidance strategy according to the current environmental conditions and the potential threat level; S412, before executing the avoidance action, using a high-precision GPS system and a satellite-borne gyroscope to accurately position and calibrate the attitude of the satellite; S413, through a multi-axis cooperative control algorithm, reducing mutual interference based on an optimized control law, and introducing a predictive control strategy to predict and compensate non-linear factors in the motor rotation process in advance; S414, subdividing the avoidance action into multiple stages, and using different acceleration and speed settings in each stage; S415, in the optical antenna rotation process, real-time monitoring of key parameters fed back by the system and the change of the optical axis pointing; S416, based on the dynamic model, predicting the rotation trajectory, and dynamically adjusting the control parameters according to the deviation between the actual monitoring data and the predicted value; S417, establishing an abnormality detection mechanism to monitor abnormal conditions in real time, and triggering an emergency handling process immediately if an abnormality is found; The S416 comprises: Real-time collection of raw data from sensors, processing of data through a data fusion algorithm, and extraction of key information useful for trajectory prediction; Based on the preset dynamic model and the real-time processed data, a predicted trajectory of the optical antenna for a future period of time is generated; at the same time, the predicted trajectory is evaluated using a multi-objective optimization algorithm; Comparing the actually monitored key parameters of the optical antenna with the predicted trajectory to detect whether there is a deviation; if there is a deviation, analyzing the deviation reason through a rule-based reasoning algorithm to identify the deviation reason; According to the deviation detection result and the reason analysis, a targeted dynamic adjustment strategy is developed; The dynamic adjustment strategy is applied to the control system in real time, and the actual trajectory of the optical antenna is continuously corrected through a closed-loop control mechanism, so that it gradually approaches the predicted trajectory; at the same time, the system response and performance indicators after adjustment are continuously monitored; The experience data in each adjustment process is recorded and analyzed, and machine learning or reinforcement learning technology is used to learn these data to continuously optimize the dynamic model and the adjustment strategy.

2. The sunlight direct irradiation avoidance method for intersatellite laser communication sun transit according to claim 1, characterized in that, The S1 comprises: S11, the satellite-borne device receives the latest sun vector data broadcast by the satellite system in a timely manner, the sun vector data including the position, direction and speed of the sun; S12, the laser communication terminal obtains the accurate pointing vector of the current optical axis in real time through the built-in attitude sensor and the optical axis encoder, the pointing vector including the azimuth angle and the elevation angle; S13, calculate the included angle between the received sun vector and the current optical axis pointing vector by vector dot product or vector angle formula; S14, compare the calculated included angle with the preset safety threshold; If the included angle is less than the safety threshold, it indicates that the optical axis may be close to the sun direction, and there is a risk of solar eclipse; If it is confirmed that the included angle is less than the safety threshold, the system automatically triggers the eclipse avoidance mode, and after entering the avoidance mode, the system immediately executes the next avoidance strategy.

3. The sunlight direct irradiation avoidance method for intersatellite laser communication sun transit according to claim 1, characterized in that, The S2 comprises: S21, determine the definition of the azimuth-elevation two-dimensional coordinate system of the optical antenna, which includes the origin, the direction of the coordinate axis, and the unit; S22, select the conversion algorithm according to the mathematical principle of coordinate system conversion, which includes Euler angle conversion or quaternion conversion; S23, convert the received sun vector data from the original coordinate system to the azimuth-elevation two-dimensional coordinate system of the optical antenna, calculate and determine the azimuth angle and elevation angle of the sun vector in the new coordinate system; S24, verify the conversion result; if a conversion error is found, perform error handling and re-execute the conversion process; S25, and store the converted sun vector azimuth and elevation values in the system.

4. The sunlight direct irradiation avoidance method for intersatellite laser communication sun transit according to claim 1, characterized in that, The S3 comprises: S31, extract the azimuth velocity component from the sun vector data, and determine the velocity direction of the sun vector azimuth according to the positive and negative of the velocity component, a positive value indicates that the sun moves in the positive direction, and a negative value indicates that the sun moves in the negative direction; S32, set different avoidance strategies according to the different velocity directions, adopt one strategy when moving in the positive direction, and adopt another strategy when moving in the negative direction; the strategies include: 1). If the sun vector azimuth velocity is positive, first rotate the azimuth motor 5° in the positive direction, and then rotate the elevation motor 10° in the elevation direction; 2). If the sun vector azimuth velocity is negative, first rotate the azimuth motor 5° in the negative direction, and then rotate the elevation motor 10° in the elevation direction; S33, refine the specific parameters of the avoidance strategy, which includes the angle of rotating the azimuth motor and the angle of rotating the elevation motor; S34, set the specific parameters as default values, and allow them to be changed through instructions; load the parameters of the avoidance strategy into the actuator to prepare for the avoidance action.

5. The sunlight direct irradiation avoidance method for intersatellite laser communication sun transit according to claim 1, characterized in that, The S4 comprises: S41, control the azimuth motor and the elevation motor of the optical antenna to rotate according to the set avoidance strategy, and continuously monitor the rotation state during the rotation; S42, continuously monitor the included angle between the optical axis and the sun vector during the execution of the avoidance action; if the included angle increases to above the safety threshold, it is judged that the avoidance is successful; S43, set the recovery condition, such as after a fixed time or when the included angle increases to above the safety threshold; S44, when the recovery condition is met, prepare to re-establish the laser communication link; S45, control the optical antenna to rotate back to the original position or the target satellite direction; re-establish the laser communication link and test the communication quality; S46, after re-establishing the link, continue to monitor the included angle between the optical axis and the sun vector; if it is found that the included angle is again less than the safety threshold, repeat the avoidance process.

6. An anti-solar-proximity laser inter-satellite communication eclipse avoidance system, characterized in that, The system comprises: Autonomous avoidance module: real-time angle judgment according to satellite broadcast solar vector and current optical axis pointing vector, if the angle is less than 3°, then autonomously enter the eclipse avoidance mode; Coordinate conversion module: convert the solar vector to the optical antenna azimuth-elevation two-dimensional coordinate system to determine the azimuth and elevation values of the solar vector; Direction judgment module: judge the direction of the solar vector speed; Re-linking module: end the eclipse avoidance and re-link after a fixed time or after autonomously calculating the theoretical pointing and solar vector angle > 3°; the state monitoring steps of the state monitoring module include: S411. According to the current environmental conditions and potential threat levels, dynamically adjust the detailed parameters of the avoidance strategy; S412. Before executing the avoidance action, use high-precision GPS systems and satellite-borne gyroscopes to accurately position and calibrate the satellite; S413. Through a multi-axis cooperative control algorithm, based on an optimized control law, mutual interference is reduced, and a predictive control strategy is introduced to predict and compensate for nonlinear factors during motor rotation in advance; S414. Subdivide the avoidance action into multiple stages, each stage using different acceleration and speed settings; S415. During the rotation of the optical antenna, real-time monitoring of key parameters fed back by the system and changes in the optical axis pointing; S416. Based on the dynamic model, predict the rotation trajectory, and dynamically adjust the control parameters according to the deviation between the actual monitoring data and the predicted value; S417. Establish an anomaly detection mechanism to monitor abnormal conditions in real time, and trigger an emergency handling process immediately if an anomaly is found; The S416 includes: Real-time collection of raw data from sensors, processing of data through data fusion algorithms, and extraction of key information useful for trajectory prediction; Based on the preset dynamic model and real-time processed data, generate a predicted trajectory of the optical antenna for a certain period of time in the future; at the same time, use a multi-objective optimization algorithm to evaluate the predicted trajectory; Compare the actual monitoring of the optical antenna key parameters with the predicted trajectory to detect whether there is a deviation; if there is a deviation, analyze the deviation reason through a rule-based reasoning algorithm to identify the deviation reason; According to the deviation detection result and reason analysis, formulate a targeted dynamic adjustment strategy; Apply the dynamic adjustment strategy to the control system in real time, and continuously correct the actual trajectory of the optical antenna through a closed-loop control mechanism, so that it gradually approaches the predicted trajectory; at the same time, continuously monitor the system response and performance indicators after adjustment; Record and analyze the experience data in each adjustment process, learn from these data using machine learning or reinforcement learning technology, and continuously optimize the dynamic model and adjustment strategy.

7. The sunlight direct radiation avoidance system for intersatellite laser communication sun transit according to claim 6, wherein, The autonomous avoidance module includes: Data receiving module: the satellite-borne device regularly receives the latest solar vector data broadcast by the satellite system, which includes the position, direction and speed of the sun; Vector acquisition module: the laser communication terminal obtains the accurate pointing vector of the current optical axis in real time through the built-in attitude sensor and optical axis encoder, which includes the azimuth angle and the elevation angle; The included angle calculation module calculates the included angle between the received sun vector and the current optical axis pointing vector through vector dot product or vector included angle formula; The threshold comparison module compares the calculated included angle with the preset safety threshold; If the included angle is less than the safety threshold, it indicates that the optical axis may be close to the sun direction, and there is a risk of solar eclipse; If it is confirmed that the included angle is less than the safety threshold, the system automatically triggers the eclipse avoidance mode; after entering the avoidance mode, the system immediately executes the next avoidance strategy.

8. The sunlight direct radiation avoidance system for intersatellite laser communication sun transit according to claim 6, wherein, The coordinate conversion module includes: The definition determination module determines the definition of the azimuth-elevation two-dimensional coordinate system of the optical antenna, which includes the origin, coordinate axis direction and unit; The algorithm selection module selects the conversion algorithm according to the mathematical principle of coordinate system conversion, which includes Euler angle conversion or quaternion conversion; The coordinate conversion module converts the received sun vector data from the original coordinate system to the azimuth-elevation two-dimensional coordinate system of the optical antenna, calculates and determines the azimuth angle and elevation angle of the sun vector in the new coordinate system; The result verification module verifies the conversion result; if an error is found, error handling is performed and the conversion process is re-executed; The numerical storage module stores the converted sun vector azimuth and elevation values in the system.

9. The sunlight direct irradiation avoidance system for intersatellite laser communication sun transit according to claim 6, wherein, The direction judgment module includes: The component extraction module extracts the azimuth velocity component from the sun vector data, and judges the velocity direction of the sun vector azimuth according to the positive and negative of the velocity component; a positive value indicates that the sun moves in the positive direction, and a negative value indicates that the sun moves in the negative direction; The strategy setting module sets different avoidance strategies according to the different velocity directions; a strategy is adopted when the sun moves in the positive direction, and another strategy is adopted when the sun moves in the negative direction; the strategy includes: 1) If the sun vector azimuth velocity is positive, first rotate the azimuth motor 5° in the positive direction, and then rotate the elevation motor 10° in the elevation direction; 2) If the sun vector azimuth velocity is negative, first rotate the azimuth motor 5° in the negative direction, and then rotate the elevation motor 10° in the elevation direction; The parameter refinement module refines the specific parameters of the avoidance strategy, which includes the angle of rotating the azimuth motor and the angle of rotating the elevation motor; The instruction change module sets the specific parameters as default values and allows them to be changed through instructions; loads each parameter of the avoidance strategy into the actuator to prepare for the avoidance action.

10. The solar direct irradiance avoidance system for intersatellite laser communication of claim 6, wherein, The re-establishment module includes: The state monitoring module controls the azimuth motor and the elevation motor of the optical antenna to rotate according to the set avoidance strategy, and continuously monitors the rotation state during the rotation; The avoidance judgment module continuously monitors the included angle between the optical axis and the sun vector during the execution of the avoidance action; if the included angle increases to above the safety threshold, it is judged that the avoidance is successful; The condition setting module sets the recovery condition, such as after a fixed time or when the included angle increases to above the safety threshold; The condition satisfaction module prepares to re-establish the laser communication link when the recovery condition is met; The quality test module controls the optical antenna to rotate back to the original position or the target satellite direction; re-establishes the laser communication link and performs communication quality test; Iteration avoidance module: after reestablishing the link, continue to monitor the angle between the optical axis and the sun vector; if the angle is found to be less than the safety threshold again, repeat the avoidance process.

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