A method for monitoring the status of multi-satellite link establishment in Earth-Moon space

Abstract

The present invention provides a method for monitoring the status of a multi-satellite link in Earth-Moon space. For any satellite included in a satellite link network to be monitored, antenna information and operational information corresponding to any satellite are obtained. Any satellite corresponds to multiple link objects, and any satellite forms a satellite link with any link object via at least one target antenna. Based on the operational information corresponding to any satellite, a position pointing vector from the position of any satellite to the position of each link object is calculated. Based on the antenna information corresponding to any satellite, an antenna pointing vector of the target antenna corresponding to each link object is calculated. For any link object, a timing link pointing angle from any satellite to any link object is calculated based on the position pointing vector and antenna pointing vector corresponding to any link object. Based on whether each timing link pointing angle corresponding to any satellite satisfies a first preset condition, at least one satellite link is adjusted to improve the communication performance of the satellite link network.

Description

Technical Field

[0001] The present invention relates to the field of satellite communication link monitoring and analysis technology, and in particular to a method for monitoring the state of multi-satellite link establishment in an cis-lunar space. Background Art

[0002] Satellite links are of great significance for communications, measurement and control, link networking, and tracking measurement. The establishment of a satellite link involves satellite control and execution errors, and is a relatively dynamic process. During operation, satellites with established links or those awaiting link establishment must ensure that specific components (e.g., antennas and observation instruments) maintain a relatively fixed pointing direction. This is crucial for satellites carrying out missions such as communications, Earth observation, and astronomical exploration.

[0003] Currently, satellite pointing can be determined by monitoring operating parameters such as satellite attitude or attitude angular velocity. However, this method does not consider the impact of satellite pointing on satellite communication performance. For example, in satellite communications, there are certain requirements for the field of view angle between the ground station antenna and the satellite antenna. The appropriate angle ensures that both antennas are in good alignment, allowing signals to be efficiently transmitted and received within the link. If the angle does not meet the constraints and exceeds the effective field of view, the signal may weaken or even be interrupted, affecting the normal operation of the entire satellite link and failing to achieve the intended application goals, such as stable communication and accurate acquisition of remote sensing data.

[0004] Furthermore, satellite links can be categorized as satellite-to-satellite links, satellite-to-ground tracking and control station links, and so on, depending on the link establishment object. Conventional satellite link status monitoring methods often segment link establishment objects and construct independent monitoring models. This fails to account for satellites dynamically establishing links with multiple targets on demand, such as those traversing the vast Earth-Moon space. Furthermore, depending on the flight altitude or mission being performed, the communication antenna's field of view, position, and rotation mechanism may vary.

[0005] Therefore, how to monitor the pointing direction of satellites to improve the communication performance of satellite link networking is an urgent problem to be solved. Summary of the Invention

[0006] The present invention provides a method for monitoring the status of multi-satellite link establishment in Earth-Moon space, which can monitor the pointing direction of satellites to improve the communication performance of satellite link networking, thereby solving the problems of the link communication monitoring and analysis methods in the prior art, such as single application objects and scenarios, low application purpose and constraint correlation.

[0007] The technical solution of the present invention to solve the above technical problems is as follows:

[0008] In a first aspect, the present invention provides a method for monitoring the state of multi-satellite link establishment in Earth-Moon space, wherein:

[0009] Determine the satellite link networking to be monitored.

[0010] For any satellite included in the satellite link network to be monitored, antenna information and operational information corresponding to the satellite are obtained. Each satellite includes multiple target antennas, and the antenna information is associated with each target antenna. Each satellite corresponds to multiple link objects, and the satellite link network to be monitored includes multiple link objects. For any link object among the multiple link objects, a satellite establishes a satellite link with the link object via at least one target antenna among the multiple target antennas. Different link objects correspond to different target antennas.

[0011] Based on the operation information corresponding to any satellite, the position pointing vector from any satellite position to the position of each link object is calculated.

[0012] Based on the antenna information corresponding to any satellite, the antenna pointing vector of the target antenna corresponding to each link object is calculated.

[0013] For any link object, the timing link pointing angle from any satellite to any link object is calculated based on the position pointing vector and antenna pointing vector corresponding to any link object.

[0014] Based on the fact that each timing link pointing angle corresponding to any satellite meets a first preset condition, a satellite link between any satellite and at least one link object is adjusted.

[0015] On the basis of the above technical solution, the present invention can also be improved as follows.

[0016] Furthermore, the antenna information includes at least the type information, location information, and field of view angle information relative to a preset direction of the corresponding antenna. The operation information includes at least the location information of the corresponding satellite.

[0017] Furthermore, for any link object, position information corresponding to any link object is obtained, and a position pointing vector from any satellite position to any link object position is calculated based on the position information corresponding to any satellite and the position information corresponding to any link object.

[0018] Furthermore, based on the position information corresponding to any satellite, a position vector of any satellite in a preset inertial coordinate system is determined. Based on the position information corresponding to any link object, a position vector of any link object in a preset inertial coordinate system is determined. Based on the difference between the position vector of any link object in the preset inertial coordinate system and the position vector of any satellite in the preset inertial coordinate system, a position pointing vector from the position of any satellite to the position of any link object is determined.

[0019] Furthermore, the type of any link object is a satellite or a ground tracking and control station.

[0020] Furthermore, when the type of any link object is a ground measurement and control station, and the position information corresponding to any link object includes the longitude information, latitude information, and altitude information of any link object relative to the earth, a first coordinate rotation matrix is ​​obtained. The first coordinate rotation matrix is ​​a transformation matrix of the earth-fixed coordinate system relative to a preset inertial coordinate system. Based on the longitude information, latitude information, and altitude information of any link object relative to the earth, the position vector of any link object in the earth-fixed coordinate system is determined. Based on the position vector of any link object in the earth-fixed coordinate system and the first coordinate rotation matrix, the position vector of any link object in the preset inertial coordinate system is determined.

[0021] Furthermore, the target antenna types include fixed antennas and rotating antennas. Based on the attitude quaternion of any satellite in a preset inertial coordinate system, a second coordinate rotation matrix is ​​obtained. The second coordinate rotation matrix is ​​a transformation matrix of the coordinate system of any satellite relative to the preset inertial coordinate system. The antenna pointing of the target antenna corresponding to any link object relative to the coordinate system of any satellite is obtained. Based on the antenna pointing of the target antenna corresponding to any link object relative to the coordinate system of any satellite and the second coordinate rotation matrix, the antenna pointing of the target antenna corresponding to any link object in the preset inertial coordinate system is determined as the antenna pointing vector of the target antenna corresponding to any link object. If the target antenna corresponding to any link object is a fixed antenna, the antenna pointing of the target antenna corresponding to any link object relative to the coordinate system of any satellite is obtained based on the antenna information corresponding to any satellite. If the target antenna corresponding to any link object is a rotating antenna, the elevation angle and azimuth angle corresponding to the target antenna corresponding to any link object are obtained. The antenna pointing of the target antenna corresponding to any link object relative to the coordinate system of any satellite after rotation based on the elevation angle and the azimuth angle is determined as the antenna pointing of the target antenna corresponding to any link object relative to the coordinate system of any satellite.

[0022] Furthermore, based on the first preset rule, the position pointing vector and antenna pointing vector corresponding to any link object, the timing link pointing angle between any satellite and any link object is calculated. The first preset rule includes:

[0023]

[0024] Where θ represents the timing link pointing angle between any satellite and any link object; Indicates the antenna pointing vector corresponding to any link object; Indicates the position pointing vector corresponding to any link object.

[0025] Furthermore, based on the antenna pointing vector corresponding to any link object, an antenna pointing angle between any satellite and any link object is calculated. If the antenna pointing angle between any satellite and each link object satisfies a second preset condition, the satellite link between any satellite and at least one link object is adjusted.

[0026] Furthermore, based on the position pointing vector corresponding to any link object, a signal reception off-axis angle of any link object is calculated. If the signal reception off-axis angle of each link object satisfies a third preset condition, a satellite link between any satellite and at least one link object is adjusted.

[0027] The beneficial effects of the present invention are: it is used to solve the problems of the existing satellite target link communication monitoring and analysis methods, such as the single application objects and scenarios, and the low application purpose and constraint correlation. According to the link objects, application purposes or flight scenarios, a list of satellite multi-target link objects and a list of satellite multi-communication antennas are dynamically configured and constructed, and the target pointing between the main satellite and the link objects and the satellite communication antenna pointing are calculated one by one. Then, link angle calculation, tracking pointing or link effect analysis are performed based on the target pointing and communication antenna pointing. The method can be applied to satellite multi-target link communication monitoring and analysis in a wider range of flight space, has strong versatility and high flexibility, and can improve the communication performance of satellite link networking.

[0028] In a second aspect, the present invention provides a system for monitoring the status of a multi-satellite link establishment in an Earth-Moon space, which is used to execute a method for monitoring the status of a multi-satellite link establishment in an Earth-Moon space as described in any one of the first aspects above.

[0029] In a third aspect, the present invention provides an electronic device comprising: a memory, one or more processors; the memory and the processor are coupled; wherein the memory stores computer program code, the computer program code includes computer instructions, and when the computer instructions are executed by the processor, the electronic device executes a method for monitoring the status of a multi-satellite link in Earth-Moon space as described in any one of the first aspects above.

[0030] In a fourth aspect, a computer-readable storage medium is provided, comprising computer instructions. When the computer instructions are executed on an electronic device, the electronic device executes a method for monitoring the status of a multi-satellite link in Earth-Moon space as described in any one of the first aspects above.

[0031] In a fifth aspect, a computer program product is provided. When the computer program product is run on a computer, the computer is caused to execute a method for monitoring the status of a multi-satellite link in Earth-Moon space as described in any one of the first aspects above.

[0032] It can be understood that the beneficial effects that can be achieved by the system of the second aspect, the electronic device described in the third aspect, the computer-readable storage medium described in the fourth aspect, and the computer program product described in the fifth aspect provided above can be referred to the beneficial effects in the first aspect and any possible design method thereof, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 A schematic flow chart of a method for monitoring the status of a multi-satellite link establishment in Earth-Moon space provided by the present invention;

[0034] Figure 2 A schematic diagram of the structure of a satellite link network provided by the present invention;

[0035] Figure 3 A schematic diagram of a satellite antenna pointing direction provided by the present invention;

[0036] Figure 4 This is a schematic diagram of the execution flow of a multi-satellite link establishment status monitoring system in Earth-Moon space provided by the present invention. DETAILED DESCRIPTION

[0037] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application. Among them, in the description of the present application, unless otherwise specified, " / " indicates that the objects associated before and after are in an "or" relationship. For example, A / B can represent A or B; "and / or" in the present application is only a description of the association relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. In addition, in the description of the present application, unless otherwise specified, "multiple" refers to two or more than two. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can represent: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or multiple. In addition, in order to facilitate the clear description of the technical solutions of the embodiments of the present application, in the embodiments of the present application, words such as "first" and "second" are used to distinguish between identical or similar items with substantially the same functions and effects. Those skilled in the art will understand that words such as "first" and "second" do not limit the quantity and execution order, and words such as "first" and "second" do not necessarily limit differences. At the same time, in the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or design.

[0038] Before introducing the embodiments of the present disclosure, the terms involved in the embodiments of the present disclosure are explained as follows:

[0039] Satellite link networking: refers to the construction of a network system with specific communication, data transmission and other functions through link connections between multiple satellites and between satellites and ground measurement and control stations.

[0040] Ground tracking and control station: A tracking and control station located on the earth, which is mainly responsible for tracking, measuring, controlling and communicating with spacecraft (such as satellites, spacecraft, etc.).

[0041] Intersatellite links (ISLs) are communications links between satellites. These links connect multiple satellites, enabling data forwarding and sharing, expanding network coverage and improving the overall communication capabilities and reliability of the system.

[0042] Satellite-to-ground link: This refers to the communication link between a satellite and a ground-based tracking and control station. It is the key to achieving network connectivity between satellites and ground-based tracking and control stations. Ground-based tracking and control stations use this link to send control commands and service data to satellites, and satellites also use this link to transmit acquired data or forwarded information back to the ground-based tracking and control station.

[0043] Timing link pointing angle: This refers to the angle formed by a signal transmitter (such as an antenna or radar) relative to a reference direction in a time-varying link system. This angle changes according to a specific time sequence. For example, in the antenna system of a satellite communication ground control station, the antenna needs to continuously adjust its angle relative to true north (or other set reference direction) to accurately receive signals from satellites at different times. This angle, which changes dynamically over time, is the timing link pointing angle.

[0044] Earth-fixed coordinate system: A rectangular coordinate system or geodetic coordinate system fixed to the Earth, used to describe the position and motion of objects on or near the Earth. The origin of an Earth-fixed coordinate system is typically at the Earth's center of mass (for some applications, a specific point near the Earth's center of mass may be used, such as the center of the Earth's reference ellipsoid).

[0045] Antenna elevation angle: refers to the angle between the central axis of the antenna beam and the horizontal plane.

[0046] The azimuth angle corresponding to the antenna refers to the horizontal angle between the north direction line of a certain point and the target direction line in a clockwise direction.

[0047] Antenna pointing angle: This refers to the angle between the antenna's main beam and a reference direction (usually due north or another preset reference direction). This angle can be described in both the horizontal plane (azimuth) and the vertical plane (elevation) to determine the spatial pointing direction of the antenna beam.

[0048] Signal reception off-axis angle: When the direction of the signal source is not aligned with the central axis of the antenna's main beam, the angle between them is called the signal reception off-axis angle. This angle measures the degree to which the signal deviates from the antenna's optimal reception direction.

[0049] See also Figure 1 The present invention provides a method for monitoring the status of a multi-satellite link in Earth-Moon space, including the following steps S101-S106:

[0050] S101: Determine the satellite link networking to be monitored.

[0051] See also Figure 2 , is a satellite link network to be monitored. Figure 2 As shown, the satellite link network to be monitored includes multiple satellites (e.g., satellite 201 and satellite 202) and multiple ground tracking and control stations (e.g., ground tracking and control stations 211 and 212). Any satellite can establish a satellite link (e.g., satellite link 221) with other satellites to enable communication with other satellites. Any satellite can also establish a satellite-to-ground link (e.g., satellite-to-ground link 222) with each ground tracking and control station to enable communication with the ground tracking and control station.

[0052] It should be noted that when any satellite, acting as a parent satellite, establishes a link with other satellites and / or ground tracking and control stations, these other satellites and / or ground tracking and control stations can also be referred to as the satellite's link objects, i.e., the parent satellite's link objects. Therefore, link objects can include both satellites and ground tracking and control stations.

[0053] S102: For any satellite included in the satellite link network to be monitored, obtain antenna information and operation information corresponding to any satellite.

[0054] Any satellite includes multiple target antennas, and antenna information is associated with the target antennas. Any satellite corresponds to multiple link objects, and the monitored satellite link network includes multiple link objects. For any of the multiple link objects, any satellite establishes a satellite link with the link object via at least one of the multiple target antennas. Different link objects correspond to different target antennas.

[0055] In some embodiments, the type of any link object is a satellite or a ground tracking and control station.

[0056] In some embodiments, antenna information includes at least information about the type and location of the corresponding antenna, and information about the field of view angle relative to a preset direction. Furthermore, antenna information may also include antenna attitude information. Operational information includes at least information about the location of the corresponding satellite. Furthermore, operational information may also include information about the attitude of the corresponding satellite and information about the angles (e.g., pitch and azimuth) used to control the rotation of the antenna.

[0057] S103: Based on the operation information corresponding to any satellite, calculate the position pointing vector from the position of any satellite to the position of each link object.

[0058] In some embodiments, for any link object, position information corresponding to any link object is obtained, and a position pointing vector from any satellite position to any link object position is calculated based on the position information corresponding to any satellite and the position information corresponding to any link object.

[0059] In some embodiments, a position vector of any satellite in a preset inertial coordinate system is determined based on the position information corresponding to any satellite. A position vector of any link object in a preset inertial coordinate system is determined based on the position information corresponding to any link object. A position pointing vector from the position of any satellite to the position of any link object is determined based on the difference between the position vector of any link object in the preset inertial coordinate system and the position vector of any satellite in the preset inertial coordinate system.

[0060] In some embodiments, the preset inertial coordinate system may be a J2000 inertial coordinate system.

[0061] For example, when the type of any link object is a satellite, based on the position information corresponding to any link object, the position vector of any link object in the J2000 inertial coordinate system can be determined. Based on the position information corresponding to any satellite, the position vector of any satellite in the J2000 inertial coordinate system can be determined based on and The position pointing vector from any satellite position to any link object position can be calculated

[0062] In some embodiments, when the type of any link object is a ground measurement and control station, and the position information corresponding to any link object includes the longitude information, latitude information, and altitude information of any link object relative to the earth, a first coordinate rotation matrix is ​​obtained. The first coordinate rotation matrix is ​​a transformation matrix of the earth-fixed coordinate system relative to a preset inertial coordinate system. Based on the longitude information, latitude information, and altitude information of any link object relative to the earth, the position vector of any link object in the earth-fixed coordinate system is determined. Based on the position vector of any link object in the earth-fixed coordinate system and the first coordinate rotation matrix, the position vector of any link object in the preset inertial coordinate system is determined.

[0063] It should be noted that the first coordinate rotation matrix can be calculated by considering factors such as precession, nutation, earth rotation, and polar motion correction in the coordinate transformation process.

[0064] For example, the position vector of any link object in the earth-fixed coordinate system can be determined based on the longitude, latitude and altitude information of any link object relative to the earth. After that, the first coordinate rotation matrix T from the ground-fixed coordinate system to the preset inertial coordinate system can be calculated ECRtoECI Based on the position vector of any link object in the ground-fixed coordinate system and the first coordinate rotation matrix T ECRtoECI , the position vector of any link object in the preset inertial coordinate system can be calculated Afterwards, based on and the position vector of any satellite in the J2000 inertial coordinate system Calculate the position pointing vector from any satellite position to any link object position

[0065] S104: Based on the antenna information corresponding to any satellite, calculate the antenna pointing vector of the target antenna corresponding to each link object.

[0066] In some embodiments, the type of target antenna includes a fixed antenna and a rotating antenna. Based on the attitude quaternion of any satellite in a preset inertial coordinate system, the second coordinate rotation matrix T can be obtained. SATtoECI . Among them, the second coordinate rotation matrix T SATtoECI It is the transformation matrix of the coordinate system of any satellite relative to the preset inertial coordinate system. Get the antenna pointing direction of the target antenna corresponding to any link object relative to the coordinate system of any satellite Antenna pointing direction of the target antenna corresponding to any link object relative to the coordinate system of any satellite And, the second coordinate rotation matrix T SATtoECI, the antenna pointing direction of the target antenna corresponding to any link object in the preset inertial coordinate system can be determined as the antenna pointing vector of the target antenna corresponding to any link object

[0067] It should be noted that the coordinate system of any satellite can be a three-dimensional coordinate system established with the mass point of any satellite as the origin, or a three-dimensional coordinate system established with the center of any satellite as the origin, or a three-dimensional coordinate system established with any point on any satellite, or any point outside any satellite as the origin, and the embodiments of this application are not limited thereto.

[0068] In some embodiments, when the type of the target antenna corresponding to any link object is a fixed antenna, the antenna orientation of the target antenna corresponding to any link object relative to the coordinate system where any satellite is located can be obtained based on the antenna information corresponding to any satellite.

[0069] In some embodiments, when the type of the target antenna corresponding to any link object is a rotating antenna, the elevation angle and azimuth angle corresponding to the target antenna corresponding to the link object are obtained. The antenna orientation of the target antenna corresponding to the link object relative to the coordinate system where the satellite is located after the target antenna corresponding to the link object is rotated based on the elevation angle and the azimuth angle is determined as the antenna orientation of the target antenna corresponding to the link object relative to the coordinate system where the satellite is located.

[0070] In some embodiments, when calculating the orientation of the corresponding antenna, the attitude of the target antenna may also be considered to improve the accuracy of the orientation of the target antenna.

[0071] S105: For any link object, based on the position pointing vector and antenna pointing vector corresponding to any link object, calculate the timing link pointing angle between any satellite and any link object.

[0072] In some embodiments, the timing link pointing angle between any satellite and any link object is calculated based on a first preset rule, a position pointing vector and an antenna pointing vector corresponding to any link object. The first preset rule includes:

[0073]

[0074] Where θ represents the timing link pointing angle between any satellite and any link object; Indicates the antenna pointing vector corresponding to any link object; Indicates the position pointing vector corresponding to any link object.

[0075] S106: Based on the fact that the pointing angles of each timing link corresponding to any satellite meet the first preset condition, adjust the satellite link between any satellite and at least one link object.

[0076] It should be noted that those skilled in the art can set the first preset condition based on actual scenarios and requirements. For example, the first preset condition is set to at least one timing link pointing angle corresponding to any satellite is not within the first preset range. The embodiment of the present application does not limit the specific content of the first preset condition.

[0077] In some embodiments, an antenna pointing angle between any satellite and any link object is calculated based on an antenna pointing vector corresponding to any link object. A satellite link between any satellite and at least one link object is adjusted based on the antenna pointing angle between any satellite and each link object satisfying a second preset condition.

[0078] It should be noted that those skilled in the art can set the second preset condition based on actual scenarios and needs. For example, the second preset condition is set to the existence of a link object whose antenna pointing angle with any satellite is not within the second preset range. The embodiment of the present application does not limit the specific content of the second preset condition.

[0079] In some embodiments, a signal reception off-axis angle of any link object is calculated based on a position pointing vector corresponding to any link object, and a satellite link between any satellite and at least one link object is adjusted based on the signal reception off-axis angle of each link object satisfying a third preset condition.

[0080] It should be noted that those skilled in the art can set a third preset condition based on actual scenarios and requirements. For example, the third preset condition is set to the fact that the signal reception off-axis angle of any link object is not within the third preset range. The embodiment of the present application does not limit the specific content of the second preset condition.

[0081] In some embodiments, adjusting the satellite link between any satellite and at least one link object includes establishing a link, disconnecting a link, adjusting the link period coverage, adjusting the link pointing accuracy, adjusting the link stability, and adjusting at least one of the off-axis effects of the ground measurement and control station.

[0082] In some embodiments, if inter-satellite antenna tracking and pointing analysis is required, calculating the inter-antenna pointing angle and drawing an antenna pointing diagram can provide a more intuitive pointing azimuth relationship, facilitating rapid status monitoring and positioning. The following describes a method for drawing an antenna pointing diagram in detail.

[0083] First, obtain the antenna pointing direction that requires inter-satellite tracking, and calculate the angle between antenna pointing directions according to the pointing angle calculation formula; when the angle is closer to 180°, the pointing direction is more accurate, otherwise the direction is more deviated.

[0084] Secondly, the position of the satellite S0 Target satellite S n Location Perform vector normalization to determine the starting points of the two satellite antennas in the pointing diagram, which are (x11, y11, z11) and (x21, y21, z21) respectively; then point the target antenna of the main satellite S0 to Target satellite S n Target antenna pointing The drawing scale threshold α is normalized to obtain (x12, y12, z12) and (x22, y22, z22) respectively, and finally the end points of the two satellite antennas in the pointing diagram are calculated (x11+α*x12, y11+α*y12, z11+α*z12) and (x21+α*x22, y21+α*y22, z21+α*z22).

[0085] like Figure 3 As shown in the figure, in one optional implementation, satellite A's antenna is pointed AA' toward satellite B, and satellite B's antenna is pointed BB' toward satellite A. If the AA' and BB' directions are aligned, the angle between the antenna directions approaches 180°, and the specific directions between the satellites and the satellite antenna directions can be seen from the antenna pointing diagram.

[0086] In some embodiments, Figure 4 This paper provides a schematic diagram of the execution flow of the multi-satellite link state monitoring system in the Earth-Moon space. Figure 4 A simulation system can simulate the process of link establishment after driving the digital models of satellites A, B and C. Figure 4 The link performance is analyzed by the flowchart shown. Based on the link timing supporting data, the three-star model can dynamically simulate the orbital position and attitude data of the satellite at each moment after binding the matching antenna information; based on the position of satellite A, satellite B, satellite C and time in the J2000 coordinate system, the inter-satellite target pointing can be calculated; based on the position of satellite A, satellite B, satellite C, ground station and time in the J2000 coordinate system, the satellite station target pointing can be calculated; based on the attitude of satellite A, satellite B, satellite C and the antenna type (fixed antenna or rotating antenna) on it in the J2000 coordinate system, the antenna installation The antenna pointing is calculated based on the position (satellite coordinate system). The link pointing angles of satellite A to satellite B, satellite A to satellite C, satellite A to the ground station, satellite B to satellite A, and the pointing angle between the antennas of satellite A and B can be calculated based on the target pointing and antenna pointing. Based on the various angle information after link angle calculation and the antenna field of view angle constraints and satellite link timing table, it is possible to analyze whether the satellite has established a link, the link period coverage, the link pointing accuracy, the link stability, and the off-axis effect of the ground measurement and control station.

[0087] In some schemes, multiple embodiments of the present application can be combined and the combined scheme can be implemented. Optionally, some operations in the process of each method embodiment are optionally combined, and / or the order of some operations is optionally changed. In addition, the execution order between the steps of each process is only exemplary and does not constitute a limitation on the execution order between the steps. There can also be other execution orders between the steps. It is not intended to indicate that the execution order is the only order in which these operations can be performed. Ordinary technicians in this field will think of many ways to reorder the operations described herein. In addition, it should be noted that the process details involved in a certain embodiment of this article are also applicable to other embodiments in a similar manner, or different embodiments can be used in combination.

[0088] Furthermore, some steps in the method embodiments may be equivalently replaced with other possible steps. Alternatively, some steps in the method embodiments may be optional and may be deleted in certain usage scenarios. Alternatively, other possible steps may be added to the method embodiments. Furthermore, the various method embodiments may be implemented separately or in combination.

[0089] Through the description of the above implementation methods, technical personnel in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the system can be divided into different functional modules to complete all or part of the functions described above.

[0090] In the several embodiments provided in this application, it should be understood that the disclosed systems and methods can be implemented in other ways. For example, the system embodiments described above are merely schematic. For example, the division of the modules or units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of systems or units, which can be electrical, mechanical or other forms.

[0091] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0092] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the contributing part or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling a device (which can be a single-chip microcomputer, chip, etc.) or a processor (processor) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0093] The above content is only a specific embodiment of this application, but the scope of protection of this application is not limited to this. Any changes or replacements within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A method for monitoring the status of multi-satellite link establishment in Earth-Moon space, characterized in that: include: Determine the satellite link networking to be monitored; For any satellite included in the satellite link network to be monitored, obtaining antenna information and operation information corresponding to the any satellite; Any one of the satellites includes a plurality of target antennas, and the antenna information is associated with the target antennas; The any one satellite corresponds to a plurality of link objects, and the to-be-monitored satellite link network includes the plurality of link objects; for any one of the plurality of link objects, the any one satellite forms a satellite link with the any one of the link objects via at least one target antenna among the plurality of target antennas; Different link objects correspond to different target antennas; Calculating a position pointing vector from the position of any satellite to the position of each link object based on the operation information corresponding to any satellite; Calculating, based on the antenna information corresponding to any one of the satellites, an antenna pointing vector of a target antenna corresponding to each of the link objects; For any one of the link objects, calculating a timing link pointing angle between the any one of the satellites and the any one of the link objects based on a position pointing vector and an antenna pointing vector corresponding to the any one of the link objects; Based on the timing link pointing angles corresponding to the any one satellite satisfying a first preset condition, the satellite link between the any one satellite and at least one of the link objects is adjusted.

2. The method according to claim 1, characterized in that The antenna information at least includes type information, location information, and field of view angle information relative to a preset direction of the corresponding antenna; and the operation information at least includes location information of the corresponding satellite.

3. The method according to claim 2, characterized in that The calculating, based on the operation information corresponding to the any one satellite, a position pointing vector from the position of the any one satellite to the position of each link object, includes: For any of the link objects, obtaining location information corresponding to the any of the link objects; Based on the position information corresponding to the any satellite and the position information corresponding to the any link object, a position pointing vector from the position of the any satellite to the position of the any link object is calculated.

4. The method according to claim 3, characterized in that The calculating, based on the position information corresponding to the any satellite and the position information corresponding to the any link object, a position pointing vector from the position of the any satellite to the position of the any link object, includes: Determining a position vector of the satellite in a preset inertial coordinate system based on the position information corresponding to the satellite; Determining a position vector of any link object in the preset inertial coordinate system based on the position information corresponding to any link object; Based on the difference between the position vector of any link object in the preset inertial coordinate system and the position vector of any satellite in the preset inertial coordinate system, a position pointing vector from the position of any satellite to the position of any link object is determined.

5. The method according to claim 4, characterized in that The type of any link object is a satellite or a ground tracking and control station.

6. The method according to claim 5, characterized in that In a case where the type of any link object is a ground measurement and control station, and the position information corresponding to any link object includes longitude information, latitude information, and altitude information of any link object relative to the earth, determining the position vector of any link object in the preset inertial coordinate system based on the position information corresponding to any link object includes: Obtaining a first coordinate rotation matrix; the first coordinate rotation matrix is ​​a transformation matrix of the earth-fixed coordinate system relative to the preset inertial coordinate system; Determining a position vector of any link object in the earth-fixed coordinate system based on the longitude information, latitude information, and altitude information of any link object relative to the earth; Based on the position vector of any link object in the earth-fixed coordinate system and the first coordinate rotation matrix, the position vector of any link object in the preset inertial coordinate system is determined.

7. The method according to claim 6, characterized in that The target antenna includes a fixed antenna and a rotating antenna. The calculating, based on the antenna information corresponding to any one of the satellites, the antenna pointing vector of the target antenna corresponding to each of the link objects includes: Based on the attitude quaternion of any satellite in the preset inertial coordinate system, obtaining a second coordinate rotation matrix; the second coordinate rotation matrix is ​​a transformation matrix of the coordinate system where any satellite is located relative to the preset inertial coordinate system; Obtaining an antenna pointing direction of a target antenna corresponding to any one of the link objects relative to a coordinate system where any one of the satellites is located; Based on the antenna pointing of the target antenna corresponding to any link object relative to the coordinate system where the any satellite is located, and the second coordinate rotation matrix, determining the antenna pointing of the target antenna corresponding to any link object in the preset inertial coordinate system as the antenna pointing vector of the target antenna corresponding to any link object; Wherein, in a case where the type of the target antenna corresponding to any one of the link objects is a fixed antenna, obtaining the antenna pointing direction of the target antenna corresponding to any one of the link objects relative to the coordinate system where any one of the satellites is located includes: Based on the antenna information corresponding to the any one satellite, obtaining the antenna pointing direction of the target antenna corresponding to the any one link object relative to the coordinate system where the any one satellite is located; In a case where the type of the target antenna corresponding to any one of the link objects is a rotating antenna, obtaining the antenna pointing direction of the target antenna corresponding to any one of the link objects relative to the coordinate system where any one of the satellites is located includes: Obtaining the elevation angle and azimuth angle corresponding to the target antenna corresponding to any one of the link objects; The antenna pointing of the target antenna corresponding to any link object relative to the coordinate system where any satellite is located after being rotated based on the pitch angle and the azimuth angle is determined as the antenna pointing of the target antenna corresponding to any link object relative to the coordinate system where any satellite is located.

8. The method according to claim 7, characterized in that The calculating, based on the position pointing vector and the antenna pointing vector corresponding to the any link object, the timing link pointing angle between the any satellite and the any link object, includes: Calculate the timing link pointing angle between the any satellite and the any link object based on a first preset rule, a position pointing vector and an antenna pointing vector corresponding to the any link object; the first preset rule includes: Wherein, θ represents the timing link pointing angle between any satellite and any link object; Indicates the antenna pointing vector corresponding to any link object; Indicates the position pointing vector corresponding to any link object.

9. The method according to claim 8, characterized in that The method further comprises: Calculating an antenna pointing angle between the any satellite and the any link object based on the antenna pointing vector corresponding to the any link object; Based on the antenna pointing angle between any one satellite and each link object satisfying a second preset condition, the satellite link between any one satellite and at least one link object is adjusted.

10. The method according to claim 9, characterized in that In the case where the type of any link object is a ground measurement and control station, the method further includes: Calculating a signal reception off-axis angle of any link object based on a position pointing vector corresponding to any link object; Based on the signal reception off-axis angle of each link object satisfying a third preset condition, the satellite link between any one satellite and at least one link object is adjusted.

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