Omnidirectional measurement and control relay link on-orbit communication method in complex detector combined measurement and control mode

Abstract

The invention discloses a complex detector combined measurement and control mode omnidirectional measurement and control relay link on-orbit communication method. The method comprises the following steps: determining a position vector of a relay satellite relative to a detector under a detector body coordinate system; determining an arc section capable of implementing a relay communication test; screening to obtain a time-sharing link establishment communication time period of each frequency point in a detector combined measurement and control mode; determining a specific measurement and control frequency point and a link building antenna of time-sharing communication; and determining a detector omnidirectional measurement and control link in-orbit relay communication and link building test flight attitude. According to the method provided by the invention, the problem of in-orbit communication link establishment of the multi-cabin combination complex detector and the relay satellite omnidirectional measurement and control link in the combined measurement and control mode is solved, the reliable establishment of the communication link between the detector and the relay satellite within a limited time period can be ensured, and meanwhile, the communication safety, the energy safety and the like of the combined mode can also be ensured; and the requirement of a multi-task multi-target detector for efficiently implementing relay communication and link establishment in an on-orbit manner is met.

Description

Technical Field

[0001] The present invention belongs to the field of space detection technology, and in particular relates to an on-orbit communication method for an omnidirectional measurement and control relay link in a complex detector combined measurement and control mode. Background Art

[0002] As space missions extend into deep space, ground measurement and control support capabilities are limited, and the key processes of many important missions will exist in areas that are invisible to ground stations. Therefore, more and more missions require relay satellites to provide relay link support for communications between probes and the ground. For example, the unmanned autonomous sampling return mission on the far side of the moon requires the establishment of a ground-satellite-device relay link through a lunar orbit relay satellite. After the deep space probe is successfully launched into orbit, before the formal mission is implemented, it is necessary to choose an appropriate test time to establish a communication link between the probe and the relay satellite in advance.

[0003] The main target of the existing deep space exploration missions that have implemented on-orbit relay links is a single cabin / device and a satellite or probe cabin that provides relay services. The main implementation method is to determine the communication period through the spatial relative position and attitude relationship between the relay satellite and each communication target, and does not involve the time-sharing and frequency-sharing communication with the relay satellite in the state of a multi-cabin assembly. The disadvantage of the above scheme is that only the relative geometric position of the two targets in the inertial space is considered during the communication test, and the resource allocation of the ground tracking and control station, flight attitude planning, and the channel margin of the relay link are not fully considered. There are limitations and it cannot be applied to multi-target and multi-task situations.

[0004] For complex probes, they are usually composed of multiple cabins and have multiple measurement, control and communication links. For example, deep space probes that implement autonomous sampling and return missions on the far side of the moon are mainly in the state of a four-device combination consisting of an orbiter, a returner, a lander and an ascender during the circumlunar flight phase, thus forming a combined measurement and control mode in which the orbiter is responsible for the -X half-space and the ascender is responsible for the +X half-space. Accordingly, during the on-orbit flight, the orbiter and the ascender need to establish communication links with the relay satellite respectively. Therefore, when designing the on-orbit communication, it is necessary to take into account the different frequency point link establishment processes of different devices; in addition, due to the deployment of the combination state mechanism, the measurement, control and communication links of other devices will be blocked. For example, in the state of a four-device combination, the deployment of the lander's solar wings will block the orbiter's communication link to the +X half-space target, and the deployment of the orbiter's solar wings will block the ascender's communication link to the -X half-space target. When implementing on-orbit and relay communication, it is necessary to avoid the problem of mechanism blocking the communication link by implementing attitude adjustment.

[0005] Therefore, for this type of mission, when implementing the on-orbit relay intercommunication process, it is necessary to consider the scheduling issues of ground measurement and control stations tracking different targets separately, be able to design a flight posture that meets the requirements of the intercommunication mission, ensure the channel margin of the communication link while taking into account energy security, and finally, combine the test results of multiple times and multiple projects to establish the on-orbit joint quantitative evaluator-satellite on-orbit relay link communication. This is a systematic and comprehensive mission design process. Summary of the invention

[0006] The technology of the present invention solves the problem: it overcomes the shortcomings of the prior art and provides an on-orbit communication method for an omnidirectional measurement and control relay link in a combined measurement and control mode of a complex detector, which solves the problem of on-orbit communication and link establishment between a complex detector with a multi-compartment combination and an omnidirectional measurement and control link with a relay satellite in a combined measurement and control mode, and can ensure that the detector and the relay satellite can reliably establish a communication link within a limited time period. At the same time, it can also ensure the communication security and energy security of the combined mode, and meet the needs of efficient on-orbit relay communication and link establishment for multi-task and multi-target detectors.

[0007] In order to solve the above technical problems, the present invention discloses an on-orbit communication method for an omnidirectional measurement and control relay link in a complex detector combination measurement and control mode, comprising:

[0008] Step 1, determining the position vector of the relay satellite relative to the detector in the detector body coordinate system;

[0009] Step 2, by traversing, determine the arc segment on which the relay communication test can be implemented;

[0010] Step 3: According to the determined arc segment where the relay communication test can be implemented, the time period for establishing the link communication at each frequency point in the detector combination measurement and control mode is screened and obtained;

[0011] Step 4, based on the time periods of time-sharing link establishment at each frequency point in the combined measurement and control mode of the screened detector, determine the specific measurement and control frequency point and link establishment antenna for the time-sharing communication;

[0012] Step 5: Based on the specific tracking and control frequency and link-building antenna determined for the time-sharing communication, determine the flight attitude of the on-orbit relay communication and link-building test of the detector's omnidirectional tracking and control link.

[0013] In the on-orbit communication method of the omnidirectional tracking and control relay link in the above-mentioned complex detector combined tracking and control mode, determining the position vector of the relay satellite relative to the detector in the detector body coordinate system includes:

[0014] Sub-step 11, according to the six orbital numbers of the probe and the relay satellite, determine the position coordinates (X P ,Y P ,Z P ) and the position coordinates of the relay satellite in the lunar center inertial coordinate system (XQ ,Y Q ,Z Q ):

[0015]

[0016] Where (a, i, e, ω, Ω, f) represents the six orbital elements, a, i, e, ω, Ω and f represent the semi-major axis, orbital inclination, eccentricity, perigee angle, ascending node right ascension and true anomaly respectively; subscript P represents the probe, subscript Q represents the relay satellite;

[0017] Sub-step 12, according to equations (1) and (2), determine the position vector of the relay satellite relative to the detector in the lunar center inertial coordinate system:

[0018]

[0019] Sub-step 13, considering the flight attitude of the probe, obtain the position vector of the relay satellite relative to the probe in the coordinate system of the probe body

[0020]

[0021] Among them, R x (θ P ), and R z (ψ P ) represent the rotation matrices of the detector around the roll axis, pitch axis and yaw axis, respectively, C IB The rotation matrix that represents the transformation from the detector orbit coordinate system to the detector body coordinate system; θ P , and ψ P They represent the roll angle, pitch angle and yaw angle of the detector respectively.

[0022] In the on-orbit communication method of the omnidirectional measurement and control relay link in the above-mentioned complex detector combination measurement and control mode, the arc segment where the relay communication test can be implemented is determined by traversal, including:

[0023] Sub-step 21, according to the relative position of each ground tracking and control station and the detector, determine the elevation angle of each ground tracking and control station to the detector communication:

[0024]

[0025] in, represents the elevation angle of the i-th ground tracking and control station to the detector communication, represents the distance between the detector and the center of the earth, represents the distance between the i-th ground tracking station and the center of the earth, represents the geocentric angle between the i-th ground station and the detector; i = 1, 2, ..., N, where N represents the number of ground tracking stations;

[0026] Sub-step 22, according to the relative position of each ground tracking and control station and the relay satellite, determine the elevation angle of each ground tracking and control station to the relay satellite communication:

[0027]

[0028] in, represents the elevation angle of the jth ground tracking and control station to the relay satellite communication, represents the distance between the relay satellite and the center of the earth, represents the distance between the jth ground tracking station and the center of the earth, represents the geocentric angle of the jth ground station and the relay satellite; j = 1, 2, ..., N, i ≠ j;

[0029] Sub-step 23, by traversing and combining equation (5), find the detector orbit position that satisfies Time period collection in, represents the lowest elevation angle at which the i-th ground tracking and control station can communicate with the detector;

[0030] Sub-step 24, by traversing and combining equation (6), find the relay satellite orbital position that satisfies Time period collection in, It indicates the lowest elevation angle at which the jth ground tracking and control station can implement communication with the relay satellite;

[0031] Sub-step 25, by traversing, find a set of time periods T in which the relative orbital positions of the probe and the relay satellite satisfy the following equation (7): PQ :

[0032]

[0033] Among them, r M represents the average radius of the moon, α PQ represents the lunar center angle between the relay satellite and the probe, R QM represents the distance between the center of the moon and the relay satellite, R PM represents the distance between the center of the moon and the detector, D PQ represents the distance between the probe and the relay satellite in the lunar center inertial coordinate system,

[0034] Sub-step 26, determining the arc segment T on which the relay communication test can be performed is:

[0035]

[0036] In the above-mentioned complex detector combined measurement and control mode omnidirectional measurement and control relay link on-orbit communication method, the detector is a multi-cabin combination, including: cabin A and cabin B; the combined measurement and control mode means: the antennas on both sides of cabin A cover +X half space, and the antennas on both sides of cabin B cover -X half space; where:

[0037] The antennas on both sides of compartment A are respectively denoted as +Y side antenna and -Y side antenna, and the frequencies corresponding to the +Y side antenna and -Y side antenna are respectively denoted as frequency points f 4 and frequency f 3 ; In the detector body coordinate system, the axis vector of the +Y side antenna and -Y side antenna axis vector They are respectively expressed as follows:

[0038] The antennas on both sides of compartment B are respectively denoted as +Z side antenna and -Z side antenna, and the frequencies corresponding to the +Z side antenna and -Z side antenna are respectively denoted as frequency points f 1 and frequency f 2 ; The axis of the +Z side antenna in the detector body coordinate system and the axis vector of the -Z side antenna They are respectively expressed as follows:

[0039] In the on-orbit communication method of the omnidirectional measurement and control relay link in the above-mentioned complex detector combination measurement and control mode, according to the determined arc segment where the relay communication test can be implemented, the time-sharing link establishment and communication period of each frequency point in the detector combination measurement and control mode is screened, including:

[0040] Sub-step 31, for any time t of the arc segment T where the relay communication test can be performed, there are:

[0041]

[0042] in, express and The angle of represents the position vector of the relay satellite relative to the detector in the detector body coordinate system at time t, represents the X-axis position vector of the detector body coordinate system at time t, like Then confirm that the +Z side antenna and -Z side antenna are used to establish a link with the relay satellite; if Then confirm that the +Y side antenna and -Y side antenna are used to establish a link with the relay satellite;

[0043] Sub-step 32, by traversing, screen out the time periods of time-sharing link establishment and communication at each frequency point in the detector combination measurement and control mode:

[0044]

[0045] in, and Respectively represent f 1 Frequency, f 2 Frequency, f 3 Frequency and f 4 The time period during which the frequency point and the target relay satellite can establish a link.

[0046] In the on-orbit communication method of the omnidirectional measurement and control relay link in the above-mentioned complex detector combination measurement and control mode, based on the time-sharing link-building communication period of each frequency point in the screened detector combination measurement and control mode, the specific measurement and control frequency point and link-building antenna for the time-sharing communication are determined, including:

[0047] Sub-step 41, selecting the tracking and control frequency point and link-building antenna for the detector to communicate with the relay satellite in time-sharing:

[0048] According to the following formula (11), mark the antennas that communicate with the relay satellite in time division:

[0049]

[0050] Among them, AntID represents the identification of the antenna that communicates with the relay satellite in time sharing. It represents the angle between the position vector of the relay satellite relative to the detector in the detector body coordinate system and the antenna axis vector. express Antenna axis vector at time, τ = 1, 2, 3, 4; During the time period, if AntID = 1, the +Z side antenna is used, otherwise the -Z side antenna is used; During the time period, if AntID = 1, the +Z side antenna is used, otherwise the -Z side antenna is used; During the time period, if AntID = 3, the +Y side antenna is used, otherwise the -Y side antenna is used; During the time period, if AntID=3, the +Y side antenna is used, otherwise the -Y side antenna is used;

[0051] Sub-step 42, providing the determination condition of the shielding situation within the available beam angle range of the antenna communicating with the relay satellite in time division:

[0052]

[0053] Among them, σ Q represents the angle between the antenna end face and the longitudinal end of the shielding mechanism and the antenna axis vector, β Q Represents the angle between the antenna end face and the longitudinal end of the shielding mechanism and the antenna axis vector; It represents the projection of the position vector of the relay satellite relative to the detector in the coordinate system of the detector body in the plane determined by the antenna axis vector as the normal vector.

[0054] Sub-step 43, selecting the ground tracking and control frequency point and link-building antenna when the detector communicates with the relay satellite:

[0055] According to the following equation (12), the ground antenna is marked:

[0056]

[0057] Among them, AntEID represents the identification of the ground antenna, represents the angle between the earth vector and the antenna axis vector, express Moment Earth Vector;

[0058] Sub-step 44, providing the determination condition of the shielding situation within the available beam angle range of the ground antenna:

[0059]

[0060] in, represents the projection of the earth vector in the plane determined by the antenna axis vector as the normal vector,

[0061] In the above-mentioned on-orbit communication method of the omnidirectional measurement and control relay link of the complex detector combined measurement and control mode, based on the specific measurement and control frequency points and link-building antennas determined for time-sharing communication, the flight posture of the on-orbit relay communication link-building test of the detector omnidirectional measurement and control link is determined, including:

[0062] Sub-step 51, judging whether to adjust the flight attitude of the probe once according to the available beam angle and shielding condition of the antenna that communicates with the relay satellite in time sharing; wherein, if equation (11) and equation (12) are satisfied at the same time, it is determined that it is not necessary to adjust the flight attitude of the probe once, and the process proceeds to sub-step 55; otherwise, the process proceeds to sub-step 52;

[0063] Sub-step 52, adjusting the flight attitude of the probe once according to the following strategy:

[0064] Calculate the minimum attitude angle that needs to be adjusted to avoid blocking the relay communication link

[0065]

[0066] Define the unit vector of the rotation axis required for one-time adjustment of the flight attitude relative to the coordinate system of the probe body

[0067] The flight attitude is calculated and the quaternion Δq is adjusted once:

[0068]

[0069] The current attitude quaternion of the detector is Then the attitude quaternion q obtained after adjustment by Δq is:

[0070] q=Δq·q 0 ···(17)

[0071] After the current flight attitude adjustment is completed, it is determined whether equation (11) and equation (12) can be satisfied at the same time; if equation (11) and equation (12) cannot be satisfied at the same time, then sub-step 52 is repeated, and the loop iteration is performed until equation (11) and equation (12) are satisfied at the same time; if equation (11) and equation (12) can be satisfied at the same time, then the target attitude A after the current flight attitude adjustment is completed is determined, and sub-step 53 is entered;

[0072] Sub-step 53, determining whether equation (13) and equation (14) can be satisfied at the same time under the target attitude A; if equation (13) and equation (14) can be satisfied at the same time, then proceed to sub-step 55; if equation (13) and equation (14) cannot be satisfied at the same time, then proceed to sub-step 54, and perform secondary adjustment of the flight attitude of the probe;

[0073] Sub-step 54, perform secondary adjustment of the probe's flight attitude according to the following strategy:

[0074] Calculate the minimum attitude angle that needs to be adjusted to avoid ground communication link obstruction

[0075]

[0076] Define the unit vector of the rotation axis required for secondary adjustment of flight attitude relative to the coordinate system of the probe body

[0077] The flight attitude secondary adjustment quaternion Δq' is calculated:

[0078]

[0079] The quaternion of the detector attitude after completing the flight attitude adjustment is: Then the attitude quaternion q' obtained after adjustment by Δq' is:

[0080] q'=Δq'·q 1 ···(20)

[0081] Determine whether the equation (13) and the equation (14) can be satisfied at the same time after the current flight attitude adjustment is completed; if the equation (13) and the equation (14) cannot be satisfied at the same time, continue to repeat sub-step 54, and iterate until the equation (13) and the equation (14) are satisfied at the same time; if the equation (13) and the equation (14) can be satisfied at the same time, determine the target attitude B after the current flight attitude adjustment is completed, and enter sub-step 55;

[0082] Sub-step 55, according to the target attitude determined by sub-steps 51 to 54, analyze the energy and thermal environment safety of the probe and the relay satellite in the communication attitude:

[0083] Define the normal vector of the probe solar wing plane under the final target attitude

[0084] Calculated and The angle η:

[0085]

[0086] According to η and η 0 The comparison results of the detector and the relay satellite are used to determine the energy and thermal environment safety under the communication attitude; if η≤η 0 , then the target posture determined by sub-steps 51 to 54 is determined as the final result; if η>η 0 , the flight attitude of the probe is adjusted three times according to the attitude adjustment angle Δη, and sub-steps 51 to 55 are repeated, and the loop is iterated until the requirements are met; η 0 Indicates the minimum incident angle corresponding to energy and thermal environment safety, Δη=η-η 0 |.

[0087] In the above-mentioned on-orbit communication method of omnidirectional measurement and control relay link in complex detector combination measurement and control mode, it also includes:

[0088] Step 6, according to the flight attitude of the detector omnidirectional measurement and control link on-orbit relay communication link building test determined in step 5, design the workflow of the detector on-orbit omnidirectional measurement and control relay link communication test;

[0089] Step 7: Evaluate the test results obtained based on the workflow designed in step 6.

[0090] The present invention has the following advantages:

[0091] The present invention discloses an on-orbit communication method for omnidirectional measurement and control relay links in a combined measurement and control mode of a complex detector, which solves the problem of stable link establishment and communication of the detector and the relay cooperation target in an orbit flying around the target celestial body, and can also take into account the reliable and safe communication of the detector to the relay satellite and the ground. Compared with the traditional single-target and relay satellite communication, the present invention proposes a comprehensive design method of "time-sharing communication relay at different frequencies" + "different devices taking into account ground communication at the same time" + "attitude adjustment under multiple constraints", which is more suitable for multi-task and multi-target complex detectors to implement on-orbit link establishment and communication tasks with relay targets in a multi-chamber assembly combined measurement and control mode. The method involved can flexibly adapt to multiple launch windows, different orbit types, detector flight attitude changes, etc., which is of great significance for the subsequent on-orbit implementation of complex aerospace missions that require support from relays. BRIEF DESCRIPTION OF THE DRAWINGS

[0092] Figure 1 It is a flow chart of an on-orbit communication method of an omnidirectional measurement and control relay link in a complex detector combination measurement and control mode in an embodiment of the present invention;

[0093] Figure 2 It is a schematic diagram of a process of establishing a communication link between a detector and a relay satellite in an embodiment of the present invention;

[0094] Figure 3 This is a schematic diagram of a detector combination measurement and control mode in an embodiment of the present invention;

[0095] Figure 4 It is a schematic diagram of the shielding angle of the measurement and control antenna when a mechanism is deployed in an embodiment of the present invention;

[0096] Figure 5 is a schematic diagram of six numbers of tracks in an embodiment of the present invention;

[0097] Figure 6 It is a schematic diagram of a communication test project of omnidirectional measurement and control links of different devices and different frequencies in an embodiment of the present invention;

[0098] Figure 7 It is a detector receiving antenna gain pattern in an embodiment of the present invention. DETAILED DESCRIPTION

[0099] In order to make the objectives, technical solutions and advantages of the present invention more clear, the embodiments disclosed in the present invention will be further described in detail below with reference to the accompanying drawings.

[0100] One of the core ideas of the present invention is that: since the detector composed of multiple modules adopts a combined measurement and control mode, there is a need for different modules to establish communication links with relay satellites, and the detector and relay satellite are both cooperative targets flying in orbit. In the process of implementing communication, it is necessary to confirm the time period for communication based on the relative orbital position relationship between the two, and design and plan the communication posture of the detector. At the same time, it is also required to take into account key factors such as energy security, ground communication security, measurement and control conditions, etc. It is a system mission design. The present invention proposes an on-orbit communication method for an omnidirectional measurement and control relay link in a combined measurement and control mode of a miscellaneous detector. The method adopts a comprehensive design of "time-sharing communication and relaying at different frequencies" + "simultaneous ground communication of different devices" + "attitude adjustment under multiple constraints". Under the conditions of combined measurement and control of multi-cabin detectors, on the premise of ensuring the safety of the detector's ground communication, each device and each frequency point are time-sharingly communicated with a relay satellite to achieve full measurement and control channel coverage. Under the premise of ensuring energy security, the flight attitude is planned to avoid the influence of link shielding by the deployment mechanism in the combined measurement and control state. The problem of on-orbit communication and link establishment of a complex detector of a multi-cabin combination with an omnidirectional measurement and control link of a relay satellite in the combined measurement and control mode is solved. The method can ensure that the detector and the relay satellite can reliably establish a communication link within a limited time period. At the same time, the communication security and energy security of the combined mode can be ensured, thereby meeting the needs of efficient on-orbit relay communication and link establishment for multi-task and multi-target detectors.

[0101] In this embodiment, the coordinate system involved in the implementation of the on-orbit communication method of the omnidirectional measurement and control relay link in the complex detector combination measurement and control mode is as follows:

[0102] The detector body coordinate system O-XYZ is defined as follows: the origin O is the geometric center of the detector lower frame end face, the +X axis is perpendicular to the detector lower frame end face and points to the detector top plate, the +Y axis is perpendicular to the X axis and points to a specific structural feature of the detector, and the +Z axis forms a right-handed coordinate system with the X axis and the Z axis. The nominal landing attitude of the detector on the far side of the moon is that the +X axis is perpendicular to the local reference plane and points to the sky, the +Y axis is in the local reference plane and points to the south, and the +Z axis points to the east.

[0103] Moon-centered inertial coordinate system O MCI -X MCI Y MCI Z MCI The definition of is as follows: The origin O MCI The three coordinate axes of the lunar-centered inertial coordinate system are parallel to the three coordinate axes of the geocentric equatorial coordinate system.

[0104] Geocentric Equatorial Coordinate System ECI -X ECI Y ECI Z ECI The definition of is as follows: The origin O ECIis the center of mass of the Earth, the basic plane is the J2000.0 Earth equatorial plane, X ECI The axis points to the J2000.0 mean equinox in the base plane, Z ECI The axis is perpendicular to the base plane and points to the North Pole. ECI Axis and Z ECI Axis, X ECI The axes are perpendicular and form a right-handed rectangular coordinate system.

[0105] In this embodiment, if Figure 1 As shown, the on-orbit communication method of the omnidirectional measurement and control relay link of the complex detector combined measurement and control mode includes:

[0106] Step 1: Determine the position vector of the relay satellite relative to the detector in the detector body coordinate system.

[0107] In this embodiment, the on-orbit flight position of the probe and the on-orbit flight position of the relay satellite can be predicted based on the precise orbit measurement results on the ground, and the position coordinates of the probe and the relay satellite in the lunar center inertial coordinate system at any time can be obtained; then the probe-relay satellite position vector in the lunar center inertial coordinate system is calculated, and based on the flight attitude and orbital position results of the probe, the position vector of the relay satellite relative to the probe in the probe body coordinate system is further calculated.

[0108] like Figure 2 As shown in the figure, taking the probe and lunar relay satellite flying in the lunar orbit as an example, the orbit elements (a, i, e, ω, Ω, f) based on the J2000.0 lunar center inertial coordinate system are used to describe it. a, i, e, ω, Ω and f represent the semi-major axis, orbit inclination, eccentricity, perigee angle, ascending node right ascension and true anomaly, respectively, as shown in the figure. Figure 5 As shown in the figure, the subscript P represents the detector, and the subscript Q represents the relay satellite. The specific implementation process of step 1 is as follows:

[0109] 11) The position coordinates of the probe in the lunar center inertial coordinate system (X P ,Y P ,Z P ) is expressed as follows:

[0110]

[0111] 12) The position coordinates of the relay satellite in the lunar center inertial coordinate system (X Q ,Y Q ,Z Q ) is expressed as follows:

[0112]

[0113] 13) According to equations (1) and (2), the position vector of the relay satellite relative to the detector in the lunar center inertial coordinate system is calculated:

[0114]

[0115] 14) Considering the flight attitude of the detector, the pitch angle, roll angle and yaw angle of the detector are defined as θ P , and ψ P , then the position vector of the relay satellite relative to the detector in the detector body coordinate system is It is expressed as follows:

[0116]

[0117] Among them, R x (θ P ), and R z (ψ P ) represent the rotation matrices of the detector around the roll axis, pitch axis and yaw axis, respectively, C IB The rotation matrix that represents the transformation from the probe orbit coordinate system to the probe body coordinate system.

[0118] Step 2: Determine the arc segment on which the relay communication test can be implemented by traversing.

[0119] In this embodiment, the arc segment that can implement the relay communication test needs to satisfy the geometric visibility of the ground tracking and control station to the detector, the ground tracking and control station to the relay satellite, and the detector and the relay satellite in the inertial space. It is necessary to comprehensively consider the impact of the detector body and the central surrounding celestial body on the tracking and control communication antenna, and determine the arc segment visible to the detector by the ground tracking and control station. The arc visible to the relay satellite from the ground tracking station and the arc T visible to the detector from the relay satellite PQ , finally determine the arc segment where relay intercommunication test can be implemented Specific:

[0120] 21) According to the probe orbit epoch, the position coordinates (X P ,Y P ,Z P ), and then determine the elevation angle of each ground tracking and control station to the detector communication according to the position coordinates of each ground tracking and control station:

[0121]

[0122] in, represents the elevation angle of the i-th ground tracking and control station to the detector communication, represents the distance between the detector and the center of the earth, represents the distance between the i-th ground tracking station and the center of the earth, represents the geocentric angle between the i-th ground station and the detector, It represents the lowest elevation angle at which the i-th ground tracking and control station can communicate with the detector; i = 1, 2, ..., N, where N represents the number of ground tracking and control stations.

[0123] 22) According to the relay satellite orbit epoch, the position coordinates (X Q ,Y Q ,Z Q ), then determine the elevation angle of each ground tracking and control station to the relay satellite communication according to the position coordinates of each ground tracking and control station:

[0124]

[0125] in, represents the elevation angle of the jth ground tracking and control station to the relay satellite communication, represents the distance between the relay satellite and the center of the earth, represents the distance between the jth ground tracking station and the center of the earth, represents the geocentric angle between the jth ground station and the relay satellite, It indicates the lowest elevation angle at which the jth ground tracking and control station can implement communication with the relay satellite; j = 1, 2, ..., N, i ≠ j.

[0126] 23) According to step 21), by traversing, determine the set of all time periods where the detector orbit position satisfies the condition of formula (5) That is, the arc segment that is geometrically visible to the detector from the ground tracking and control station.

[0127] 24) According to step 22), by traversing, determine the set of all time periods where the relay satellite orbital position satisfies the condition of formula (6) That is, the arc segment that is geometrically visible to the ground tracking and control station to the relay satellite.

[0128] 25) After extrapolating the position coordinates of the probe / relay satellite at any position on the orbit according to the probe / relay satellite orbit epoch, the set of all time periods T in which the relative orbital positions of the probe and relay satellite satisfy the condition of formula (7) is found by traversal. PQ , that is, the arc segment geometrically visible to the relay satellite:

[0129]

[0130] Among them, r M represents the average radius of the moon, α PQ represents the lunar center angle between the relay satellite and the probe, RQM represents the distance between the center of the moon and the relay satellite, R PM represents the distance between the center of the moon and the detector, D PQ represents the distance between the probe and the relay satellite in the lunar center inertial coordinate system,

[0131] 26) Determine the arc segment T for implementing the relay communication test, that is, the time period that satisfies the geometric visibility of the ground control station to the detector, the ground control station to the relay satellite, and the detector and the relay satellite:

[0132]

[0133] It should be noted that the communication elevation angle of a deep space station is usually ≥10°, and the elevation angle of an 18-meter ground tracking and control station is ≥7°.

[0134] Step 3: Based on the determined arc segments where relay intercommunication test can be implemented, the time periods for establishing link intercommunication at each frequency point in the detector combination measurement and control mode are screened and obtained.

[0135] In this embodiment, the detector is a multi-chamber assembly, including: cabin A and cabin B. Figure 3 As shown in FIG. 1 , the combined measurement and control mode refers to a combined measurement and control mode in which the antennas on both sides of compartment A cover the +X half space and the antennas on both sides of compartment B cover the -X half space. Among them, the antennas on both sides of compartment A are respectively recorded as the +Y side antenna and the -Y side antenna, and the frequency points corresponding to the +Y side antenna and the -Y side antenna are respectively recorded as the frequency points f 4 and frequency f 3 ; In the detector body coordinate system, the axis vector of the +Y side antenna and -Y side antenna axis vector They are respectively expressed as follows: The antennas on both sides of compartment B are respectively denoted as +Z side antenna and -Z side antenna, and the frequencies corresponding to the +Z side antenna and -Z side antenna are respectively denoted as frequency points f 1 and frequency f 2 ; The axis of the +Z side antenna in the detector body coordinate system and the axis vector of the -Z side antenna They are respectively expressed as follows:

[0136] In the arc segment determined in step 2 where the relay communication test can be implemented, combined with the threshold conditions of the detector combined measurement and control mode, the coverage of different cabins and different measurement and control frequencies by the relay satellite is judged, thereby selecting the time-sharing link establishment and communication period of each frequency point under the detector combined measurement and control mode. Specifically:

[0137] 31) For any time t of the arc segment T where the relay communication test can be implemented, the detector measurement and control coverage interval where the relay satellite is located is calculated:

[0138]

[0139] And judge: If Then confirm that the +Z side antenna and -Z side antenna are used to establish a link with the relay satellite; if Then confirm that the +Y side antenna and -Y side antenna are used to establish a link with the relay satellite. express and The angle of represents the position vector of the relay satellite relative to the detector in the detector body coordinate system at time t, represents the X-axis position vector of the detector body coordinate system at time t,

[0140] 32) According to the calculation result of step 31), the time periods of time-sharing link establishment and communication of each frequency point in the detector combination measurement and control mode are obtained by traversal and screening:

[0141]

[0142] in, and Respectively represent f 1 Frequency, f 2 Frequency, f 3 Frequency and f 4 The time period during which the frequency point and the target relay satellite can establish a link.

[0143] Step 4, based on the screened detector combination measurement and control mode, the time period of each frequency point in the time-sharing link establishment, determine the specific measurement and control frequency point and link establishment antenna for the time-sharing communication.

[0144] In this embodiment, to determine the specific measurement and control frequency and link-building antenna for time-sharing communication, it is necessary to first make sure that there will be no blockage by the cabin assembly within the antenna beam angle range of the implemented link-building communication, and then determine the specific measurement and control frequency and link-building antenna. The specific implementation process is as follows:

[0145] 41) Select the tracking and control frequency and link-building antenna for the detector to communicate with the relay satellite in time-sharing.

[0146] According to the time period determined by formula (10), the specific antenna that can establish a link communication is determined. It is necessary to calculate the time-division and frequency-division antenna vector that communicates with the relay satellite. and Angle Whether the antenna meets the available beam angle range (usually [0°, 90°]). If it is within the available range, it means that the antenna at the current frequency point is available. Otherwise, calculate the antennas at other frequencies and The angle of the clip is marked with the AntID of the antenna:

[0147]

[0148] Among them, AntID represents the identification of the antenna that communicates with the relay satellite in time sharing. express The antenna axis vector at the moment, τ = 1, 2, 3, 4, τ = 1 corresponds to the f of compartment B 1 Frequency point omnidirectional tracking and control antenna, τ = 2 corresponds to the f of compartment B 2 Frequency point omnidirectional tracking and control antenna, τ = 3 corresponds to the f of compartment A 3 Frequency point omnidirectional tracking and control antenna, τ = 4 corresponds to the f of compartment A 4 Frequency omnidirectional measurement and control antenna. During the time period, if AntID = 1, the +Z side antenna is used, otherwise the -Z side antenna is used; During the time period, if AntID = 1, the +Z side antenna is used, otherwise the -Z side antenna is used; During the time period, if AntID = 3, the +Y side antenna is used, otherwise the -Y side antenna is used; During the time period, if AntID=3, it is determined that the +Y side antenna is used, otherwise the -Y side antenna is used.

[0149] 42) Give the criteria for determining the obstruction within the available beam angle range of the antenna that communicates with the relay satellite in time-sharing mode.

[0150] According to the AntID identifier, the shielding situation of each antenna is calculated separately. First, the shielding angle of the antenna after the shielding mechanism is deployed is calculated. Then, according to the equipment configuration layout results, the angle σ between the antenna end face and the longitudinal end of the shielding mechanism and the antenna axis vector is calculated. Q , and the angle β between the antenna end face and the longitudinal end of the shielding mechanism and the antenna axis vector Q ,like Figure 4 shown.

[0151] Specifically: Calculate whether the position of the relay satellite at any time is outside the shielding area of ​​the shielding mechanism. First calculate Is <σ Q If yes, then the occlusion can be avoided in the lateral direction. If not, calculate the projection of the position vector of the relay satellite relative to the detector in the coordinate system of the detector body in the plane determined by the antenna axis vector as the normal vector. Is the angle with the axis of symmetry > β? Q , which can be expressed as:

[0152]

[0153] in,

[0154] If the above conditions are not met, the relay satellite will be blocked, and it is necessary to enter step 52) to adjust the flight attitude to avoid blocking. Outside the shielding area of ​​the shielding mechanism.

[0155] 43) Select the ground tracking and control frequency and link-building antenna when the detector communicates with the relay satellite.

[0156] According to the time period determined by formula (10) and the frequency point for the relay satellite determined in step 41), the communication situation of other frequency points to the ground is calculated, and different frequency points of different devices are preferred (different frequency points of different devices >> priority of different frequency points of the same device). For example, if the frequency point of cabin B is used to establish a link with the relay satellite, then AntID = 1 / 2, and the frequency point on the side of cabin A needs to be used for ground communication, so the omnidirectional antenna of cabin A needs to be determined Whether the angle with the earth vector meets the available beam angle range of the antenna. If it is within the available range, it means that ground communication can be implemented through the current antenna. Otherwise, calculate the angle between the other frequency point antenna and the earth vector, and mark the ground antenna identification AntEID, which is expressed as follows:

[0157]

[0158] Among them, AntEID represents the identification of the ground antenna, represents the angle between the earth vector and the antenna axis vector, express Moment Earth Vector.

[0159] 44) Give the criteria for determining the obstruction within the available beam angle range of the ground-to-ground antenna.

[0160] According to the AntEID identification, the antenna shielding situation is calculated. First, the shielding angle of the antenna after the shielding mechanism is deployed is calculated. The analysis process is consistent with step 42). It is necessary to determine σ according to the equipment configuration layout. Q and β Q ; Calculate whether the position of the earth vector at any time is outside the mechanism shielding area. First calculate Is <σ Q If yes, then the occlusion can be avoided in the lateral direction. If no, calculate whether the projection of the earth vector in the plane determined by the antenna axis vector as the normal vector is greater than β. Q , which can be expressed as:

[0161]

[0162] in, represents the projection of the earth vector in the plane determined by the antenna axis vector as the normal vector,

[0163] If the above conditions are not met, the ground communication link will inevitably be blocked, and it is necessary to enter step 54) to adjust the flight attitude to avoid blocking, so that Outside the blocked area.

[0164] Step 5: Based on the specific tracking and control frequency and link-building antenna determined for the time-sharing communication, determine the flight attitude of the on-orbit relay communication and link-building test of the detector's omnidirectional tracking and control link.

[0165] In this embodiment, for the obstruction period in step 4, attitude adjustment is required, and ultimately it is necessary to ensure that different devices / different frequencies can respectively communicate with the relay satellite and the ground, while also taking into account the flight energy safety and thermal environment safety of the probe. Specifically:

[0166] 51) Determine whether to adjust the flight attitude of the probe based on the available beam angle and obstruction of the antenna that communicates with the relay satellite in time-sharing mode.

[0167] If equation (11) and equation (12) are satisfied at the same time, it is determined that there is no need to adjust the flight attitude of the probe, and the process goes to step 55); otherwise, the process goes to step 52).

[0168] 52) Adjust the flight attitude of the probe once according to the following strategy:

[0169] Calculate the minimum attitude angle that needs to be adjusted to avoid blocking the relay communication link

[0170]

[0171] Define the unit vector of the rotation axis required for one-time adjustment of the flight attitude relative to the coordinate system of the probe body The flight attitude is calculated and the quaternion Δq is adjusted once:

[0172]

[0173] The current attitude quaternion of the detector is Then the attitude quaternion q obtained after adjustment by Δq is:

[0174] q=Δq·q 0 ···(17)

[0175] After the current flight attitude adjustment is completed, determine whether equations (11) and (12) can be satisfied at the same time; if equations (11) and (12) cannot be satisfied at the same time, continue to repeat step 52), and iterate until equations (11) and (12) are satisfied at the same time; if equations (11) and (12) can be satisfied at the same time, determine the target attitude A after the current flight attitude adjustment is completed, and enter step 53). For example, when the four-device combination detector is in the moon orbit state, the +X axis is used as the sun-facing axis to ensure energy safety. When performing flight attitude adjustment, energy optimization is given priority, and the attitude angle is adjusted around the sun axis first, that is, set After completing the posture adjustment, it is determined whether the requirements of equations (11) and (12) can be met at the same time. If not, step 52) is repeated until the requirements are met. If they are met, the target posture is determined and step 53) is entered.

[0176] 53) Determine whether equations (13) and (14) can be satisfied simultaneously under the target posture A.

[0177] If both equation (13) and equation (14) are satisfied, the process proceeds to step 55); if both equation (13) and equation (14) are not satisfied, the process proceeds to step 54 to perform a secondary adjustment of the flight attitude of the probe.

[0178] 54) Perform secondary adjustment of the probe's flight attitude according to the following strategy:

[0179] Calculate the minimum attitude angle that needs to be adjusted to avoid ground communication link obstruction

[0180]

[0181] Define the unit vector of the rotation axis required for secondary adjustment of flight attitude relative to the coordinate system of the probe body The flight attitude secondary adjustment quaternion Δq' is calculated:

[0182]

[0183] The quaternion of the detector attitude after completing the flight attitude adjustment is: Then the attitude quaternion q' obtained after adjustment by Δq' is:

[0184] q'=Δq'·q 1 ···(20)

[0185] Determine whether equations (13) and (14) can be satisfied at the same time after the current flight attitude adjustment is completed. Go to Europe. If equations (13) and (14) cannot be satisfied at the same time, continue to repeat step 54), and iterate until equations (13) and (14) are satisfied at the same time; if equations (13) and (14) can be satisfied at the same time, determine the target attitude B after the current flight attitude adjustment is completed, and enter step 55).

[0186] 55) According to the target attitude determined by steps 51) to 54), the energy and thermal environment safety of the probe and the relay satellite in the communication attitude are analyzed.

[0187] Define the normal vector of the probe solar wing plane under the final target attitude Calculated and The angle η:

[0188]

[0189] According to η and η 0 The comparison results of η and η are used to determine the energy and thermal environment safety of the probe and the relay satellite in the communication posture. 0 , then the target posture determined by steps 51) to 54) is determined as the final result; if η>η 0 , the flight attitude of the probe is adjusted three times according to the attitude adjustment angle Δη, and steps 51) to 55) are repeated, and the cycle is iterated until the requirements are met. η 0 Indicates the minimum incident angle corresponding to energy and thermal environment safety, Δη=η-η 0 |.

[0190] Step 6: Design the communication test workflow of the probe's on-orbit omnidirectional tracking and control relay link based on the communication test period and flight attitude determined in steps 1 to 5.

[0191] In this embodiment, the design workflow of the on-orbit omnidirectional tracking and control relay link communication test of the detector mainly includes: allocation and scheduling of ground deep space station / tracking and control station resources, setting of equipment status of each detector device, each frequency point, each link and relay satellite when establishing communication before and after entering the device-satellite communication arc, detector attitude adjustment maneuver, and setting of command timing sending after communication is established.

[0192] by Figure 6Taking the example of the lunar probe on-orbit omnidirectional measurement and control relay link intercommunication test project process, first calculate that within the currently available test arc (about 60 minutes), different frequencies on both sides of different probes are used to communicate with the relay satellite and the ground. It is necessary to adjust the flight attitude in advance and complete the equipment status setting during the intercommunication test. Then, the probe and the satellite establish the return and forward links in turn and start the test. After the test is completed, the probe's flight attitude is adjusted to the cruising flight attitude, the equipment status is restored, and finally the entire on-orbit intercommunication test is completed. The specific steps include:

[0193] 61) Set the relay satellite link status

[0194] Entering the through arc Before the relay satellite is launched, the ground tracking and control station will record its own orbital epoch, the target detector's orbital epoch and the position coordinates of the ground tracking and control station and complete the memory unloading comparison.

[0195] Set the relay satellite tracking target orbit as the target detector, and set the relay satellite to forward the detector identifier to the corresponding target, frequency and code rate. The principle is: The ID mark in the arc is compartment B, and the return frequency = f of compartment B 1 or 2 frequency, the code rate is set to r 轨 ,exist The ID mark in the arc is compartment A, and the return frequency = f of compartment A 3 or 4 frequency, the code rate is set to r 上 In this example, the relay return frequency = f of compartment A 3 Frequency.

[0196] Based on the extrapolation of the probe's target orbit injection epoch to the arc start time, the relay satellite establishes in advance the tracking and pointing flight attitude of the probe after the arc start.

[0197] The relay forward device is turned on and waits for the detector to enter the relay communication arc section to establish the forward and return links.

[0198] 62) Set the detector link status

[0199] Entering the through arc Before the test, all transponders of the measurement and control data transmission subsystem are turned on, and transmitters A and B both output downlink signals.

[0200] According to the AntEID selection identifier, the ground downlink is switched in advance. In this example, AntID = 3. According to the principle of "different devices and different frequencies for relay satellites and ground respectively" and the calculation result of formula (13), the corresponding AntEID = 1, so the ground station is set in advance to establish the f of compartment B. 1Frequency uplink and downlink.

[0201] The detector performs attitude adjustment maneuvers with the support of the ground station, and the current attitude q 0 Rotate to the target posture q', in this example:

[0202] Set f of compartment A 3 The frequency omnidirectional measurement and control equipment is turned on.

[0203] 63) Communication test between probe and relay satellite

[0204] Entering the arc section After that, according to the requirements of this test project, the subcarrier frequency of the relay satellite transmitter is set to = f of compartment A. 3 Frequency (coherent mode) or = f of compartment A 4 frequency (incoherent mode), the forward code rate is set to r 上 .

[0205] The detector and relay satellite synchronization judgement - the pre-satellite and return link capture establishment status. If the capture is successful, proceed to the next step to start the detector test command sequence forwarded uplinked from the ground by the relay satellite via the module A channel. If the capture is not successful, continue the frequency scanning capture.

[0206] The ground sends the detector test command sequence one by one, and the ground control station S 1 and S 2 Receive the telemetry results of module A forwarded by the relay satellite and the telemetry results of module B directly transmitted underground, compare the correctness of the execution results of each instruction one by one, and continue to send the next instruction if it is executed correctly. If there is an execution error or the comparison is inconsistent, continue to resend the current instruction.

[0207] After completing all test sequences, the relay satellite switches to the forward frequency and starts the next test item.

[0208] After all the tests are completed, the relay satellite de-adjusts the forward and return frequency signals and resumes the cruise state. The detector closes the channel to the relay satellite and adjusts its attitude to resume the cruise flight state before the test.

[0209] Repeat the above steps until all frequency test items are completed.

[0210] Step 7: Evaluate the test results obtained based on the workflow designed in step 6.

[0211] In this embodiment, the relationship between the position of the device and the satellite, the distance between the device and the satellite, the angle between the antenna and the relay satellite, and other indicators during the communication test are established to calculate the actual relay omnidirectional measurement and control link gain, and complete the performance evaluation of the on-orbit device-satellite relay link. In the task, according to the test process of step 6, multiple tests are completed in sequence according to each frequency point, and multiple test items are completed successively at different frequencies of different devices. After all the items of the on-orbit relay communication of the device-satellite omnidirectional measurement and control link are tested, the link margin of each communication is calculated with the omnidirectional measurement and control link margin as an indicator, and the test results are evaluated. The specific steps are as follows:

[0212] Definition: The detector receiver receiving power is P, and the detector receiver demodulation threshold is P 0 , the equivalent isotropic radiated power (including pointing loss) of the relay satellite is EIRP Q , the relay link space loss is L SPu , the polarization loss between the detector transmitting and receiving antennas is L P , the detector receiving antenna gain is G P , the detector receiver feed line loss is Then, the margin M of the omnidirectional measurement and control relay link is:

[0213]

[0214] in, P Q is the relay satellite amplifier output power, is the relay satellite transmitter feeder loss, G Q Transmit antenna gain for relay satellites; f Q is the forward signal frequency of the relay satellite, and δ is the space link loss constant.

[0215] Take the f of the lunar probe module A as 3 As an example, according to the flight attitude designed in step 5, when the instrument and the satellite are in communication, the f of compartment A is 3 Frequency Antenna Angle between the relay satellite and the vector by Figure 7 The antenna gain pattern shown (obtained from the ground RM test results) can be obtained by G P , from which P can be calculated. The minimum demodulation threshold of the actual compartment A receiver design is P 0 , and then according to formula (22) we can calculate M = PP 0 =20dBm>0dBm, which meets the requirements, indicating that the communication test method proposed in the present invention can effectively verify the correctness of the design of the device-satellite omnidirectional measurement and control link.

[0216] Although the present invention has been disclosed as above in the form of a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art may make possible changes and modifications to the technical solution of the present invention by using the methods and technical contents disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention shall fall within the protection scope of the technical solution of the present invention.

[0217] The contents not described in detail in the specification of the present invention belong to the common knowledge of the professionals in this field.

Claims

1. A method for on-orbit communication of omnidirectional measurement and control relay links in a complex detector combination measurement and control mode, characterized in that: include: Step 1, determining the position vector of the relay satellite relative to the detector in the detector body coordinate system; Step 2, by traversing, determine the arc segment on which the relay communication test can be implemented; Step 3: According to the determined arc segment where the relay communication test can be implemented, the time period for establishing the link communication at each frequency point in the detector combination measurement and control mode is screened and obtained; Step 4, based on the time periods of time-sharing link establishment at each frequency point in the combined measurement and control mode of the screened detector, determine the specific measurement and control frequency point and link establishment antenna for time-sharing communication; Step 5: Based on the specific tracking and control frequency and link-building antenna determined for the time-sharing communication, determine the flight attitude of the on-orbit relay communication and link-building test of the detector's omnidirectional tracking and control link.

2. The on-orbit communication method of the omnidirectional measurement and control relay link of the complex detector combination measurement and control mode according to claim 1 is characterized in that: Determine the position vector of the relay satellite relative to the detector in the detector body coordinate system, including: Sub-step 11, according to the six orbital numbers of the probe and the relay satellite, determine the position coordinates (X P ,Y P ,Z P ) and the position coordinates of the relay satellite in the lunar center inertial coordinate system (X Q ,Y Q ,Z Q ): Where (a, i, e, ω, Ω, f) represents the six orbital elements, a, i, e, ω, Ω and f represent the semi-major axis, orbital inclination, eccentricity, perigee angle, ascending node right ascension and true anomaly respectively; subscript P represents the probe, subscript Q represents the relay satellite; Sub-step 12, according to equations (1) and (2), determine the position vector of the relay satellite relative to the detector in the lunar center inertial coordinate system: Sub-step 13, considering the flight attitude of the probe, obtain the position vector of the relay satellite relative to the probe in the coordinate system of the probe body Among them, R x (θ P ), and R z (ψ P ) represent the rotation matrices of the detector around the roll axis, pitch axis and yaw axis, respectively, C IB The rotation matrix that represents the transformation from the detector orbit coordinate system to the detector body coordinate system; θ P , and ψ P They represent the roll angle, pitch angle and yaw angle of the detector respectively.

3. The on-orbit communication method of omnidirectional measurement and control relay link in complex detector combination measurement and control mode according to claim 2 is characterized in that: By traversing, the arc segments where relay intercommunication test can be implemented are determined, including: Sub-step 21, according to the relative position of each ground tracking and control station and the detector, determine the elevation angle of each ground tracking and control station to the detector communication: in, represents the elevation angle of the i-th ground tracking and control station to the detector communication, represents the distance between the detector and the center of the earth, represents the distance between the i-th ground tracking station and the center of the earth, represents the geocentric angle between the i-th ground station and the detector; i = 1, 2, ..., N, where N represents the number of ground tracking stations; Sub-step 22, according to the relative position of each ground tracking and control station and the relay satellite, determine the elevation angle of each ground tracking and control station to the relay satellite communication: in, represents the elevation angle of the jth ground tracking and control station to the relay satellite communication, represents the distance between the relay satellite and the center of the earth, represents the distance between the jth ground tracking station and the center of the earth, represents the geocentric angle of the jth ground station and the relay satellite; j = 1, 2, ..., N, i ≠ j; Sub-step 23, by traversing and combining equation (5), find the detector orbit position that satisfies Time period collection in, represents the lowest elevation angle at which the i-th ground tracking and control station can communicate with the detector; Sub-step 24, by traversing and combining equation (6), find the relay satellite orbital position that satisfies Time period collection in, It indicates the lowest elevation angle at which the jth ground tracking and control station can implement communication with the relay satellite; Sub-step 25, by traversing, find a set of time periods T in which the relative orbital positions of the probe and the relay satellite satisfy the following equation (7): PQ : Among them, r M represents the average radius of the moon, α PQ represents the lunar center angle between the relay satellite and the probe, R QM Represents the distance between the center of the moon and the relay satellite, R PM represents the distance between the center of the moon and the detector, D PQ represents the distance between the probe and the relay satellite in the lunar center inertial coordinate system, Sub-step 26, determining the arc segment T on which the relay communication test can be performed is:

4. The on-orbit communication method of omnidirectional measurement and control relay link in complex detector combination measurement and control mode according to claim 3 is characterized in that: The detector is a multi-cabin combination, including: compartment A and compartment B; the combined measurement and control mode means: the antennas on both sides of compartment A cover +X half space, and the antennas on both sides of compartment B cover -X half space; where: The antennas on both sides of compartment A are respectively recorded as +Y side antenna and -Y side antenna, and the frequencies corresponding to +Y side antenna and -Y side antenna are recorded as frequency f4 and frequency f3 respectively; in the detector body coordinate system, the axis vector of the +Y side antenna is and -Y side antenna axis vector They are respectively expressed as follows: The antennas on both sides of compartment B are respectively denoted as +Z side antenna and -Z side antenna, and the frequencies corresponding to +Z side antenna and -Z side antenna are respectively denoted as frequency f1 and frequency f2; the axis of the +Z side antenna in the detector body coordinate system and the axis vector of the -Z side antenna They are respectively expressed as follows:

5. The on-orbit communication method of omnidirectional measurement and control relay link in complex detector combination measurement and control mode according to claim 4 is characterized in that: According to the determined arc segment where the relay intercommunication test can be implemented, the time-sharing link-building intercommunication period of each frequency point in the detector combination measurement and control mode is screened, including: Sub-step 31, for any time t of the arc segment T where the relay communication test can be performed, there are: in, express and The angle of represents the position vector of the relay satellite relative to the detector in the detector body coordinate system at time t, represents the X-axis position vector of the detector body coordinate system at time t, t∈T; if Then confirm that the +Z side antenna and -Z side antenna are used to establish a link with the relay satellite; if Then confirm that the +Y side antenna and -Y side antenna are used to establish a link with the relay satellite; Sub-step 32, by traversing, screen out the time periods of time-sharing link establishment and communication at each frequency point in the detector combination measurement and control mode: in, and They respectively represent the time periods during which the f1 frequency point, the f2 frequency point, the f3 frequency point and the f4 frequency point can establish a link with the target relay satellite.

6. The on-orbit communication method of omnidirectional measurement and control relay link in complex detector combination measurement and control mode according to claim 5 is characterized in that: Based on the time periods of time-sharing link establishment at each frequency point in the combined measurement and control mode of the screened detector, the specific measurement and control frequency points and link establishment antennas for time-sharing communication are determined, including: Sub-step 41, selecting the tracking and control frequency point and link-building antenna for the detector to communicate with the relay satellite in time-sharing: According to the following formula (11), mark the antennas that communicate with the relay satellite in time division: Among them, AntID represents the identification of the antenna that communicates with the relay satellite in time sharing. It represents the angle between the position vector of the relay satellite relative to the detector in the detector body coordinate system and the antenna axis vector. express Antenna axis vector at time, τ = 1, 2, 3, 4; During the time period, if AntID = 1, the +Z side antenna is used, otherwise the -Z side antenna is used; During the time period, if AntID = 1, the +Z side antenna is used, otherwise the -Z side antenna is used; During the time period, if AntID = 3, the +Y side antenna is used, otherwise the -Y side antenna is used; During the time period, if AntID=3, the +Y side antenna is used, otherwise the -Y side antenna is used; Sub-step 42, providing the determination condition of the shielding situation within the available beam angle range of the antenna communicating with the relay satellite in time division: Among them, σ Q represents the angle between the antenna end face and the longitudinal end of the shielding mechanism and the antenna axis vector, β Q Represents the angle between the antenna end face and the longitudinal end of the shielding mechanism and the antenna axis vector; It represents the projection of the position vector of the relay satellite relative to the detector in the coordinate system of the detector body in the plane determined by the antenna axis vector as the normal vector. Sub-step 43, selecting the ground tracking and control frequency point and link-building antenna when the detector communicates with the relay satellite: According to the following equation (12), the ground antenna is marked: Among them, AntEID represents the identification of the ground antenna, represents the angle between the earth vector and the antenna axis vector, express Moment Earth Vector; Sub-step 44, providing the determination condition of the shielding situation within the available beam angle range of the ground antenna: in, represents the projection of the earth vector in the plane determined by the antenna axis vector as the normal vector, 7. The on-orbit communication method of omnidirectional measurement and control relay link in complex detector combination measurement and control mode according to claim 6 is characterized in that: Based on the specific measurement and control frequency and link-building antenna determined for time-sharing communication, the flight attitude of the detector's omnidirectional measurement and control link on-orbit relay communication link-building test is determined, including: Sub-step 51, judging whether to adjust the flight attitude of the probe once according to the available beam angle and shielding condition of the antenna that communicates with the relay satellite in time sharing; wherein, if equation (11) and equation (12) are satisfied at the same time, it is determined that it is not necessary to adjust the flight attitude of the probe once, and the process proceeds to sub-step 55; otherwise, the process proceeds to sub-step 52; Sub-step 52, adjusting the flight attitude of the probe once according to the following strategy: Calculate the minimum attitude angle that needs to be adjusted to avoid blocking the relay communication link Define the unit vector of the rotation axis required for one-time adjustment of the flight attitude relative to the coordinate system of the probe body The flight attitude is calculated and the quaternion Δq is adjusted once: The current attitude quaternion of the detector is Then the attitude quaternion q obtained after adjustment by Δq is: q=Δq·q0···(17) After the current flight attitude adjustment is completed, it is determined whether equation (11) and equation (12) can be satisfied at the same time; if equation (11) and equation (12) cannot be satisfied at the same time, then sub-step 52 is repeated, and the loop iteration is performed until equation (11) and equation (12) are satisfied at the same time; if equation (11) and equation (12) can be satisfied at the same time, then the target attitude A after the current flight attitude adjustment is completed is determined, and sub-step 53 is entered; Sub-step 53, determining whether equation (13) and equation (14) can be satisfied at the same time under the target attitude A; if equation (13) and equation (14) can be satisfied at the same time, then proceed to sub-step 55; if equation (13) and equation (14) cannot be satisfied at the same time, then proceed to sub-step 54, and perform secondary adjustment of the flight attitude of the probe; Sub-step 54, perform secondary adjustment of the probe's flight attitude according to the following strategy: Calculate the minimum attitude angle that needs to be adjusted to avoid ground communication link obstruction Define the unit vector of the rotation axis required for secondary adjustment of flight attitude relative to the coordinate system of the probe body The flight attitude secondary adjustment quaternion Δq' is calculated: The quaternion of the detector attitude after completing the flight attitude adjustment is Then the attitude quaternion q' obtained after adjustment by Δq' is: q'=Δq'·q1···(20) Determine whether the equation (13) and the equation (14) can be satisfied at the same time after the current flight attitude adjustment is completed; if the equation (13) and the equation (14) cannot be satisfied at the same time, continue to repeat sub-step 54, and iterate until the equation (13) and the equation (14) are satisfied at the same time; if the equation (13) and the equation (14) can be satisfied at the same time, determine the target attitude B after the current flight attitude adjustment is completed, and enter sub-step 55; Sub-step 55, according to the target attitude determined by sub-steps 51 to 54, analyze the energy and thermal environment safety of the probe and the relay satellite in the communication attitude: Define the normal vector of the probe solar wing plane under the final target attitude Calculated and The angle η: According to the comparison result of η and η0, the energy and thermal environment safety of the probe and the relay satellite under the communication attitude is determined; if η≤η0, the target attitude determined by sub-steps 51 to 54 is determined as the final result; if η>η0, the flight attitude of the probe is adjusted three times according to the attitude adjustment angle Δη, and sub-steps 51 to 55 are repeated, and the cycle is iterated until the requirements are met; η0 represents the minimum incident angle corresponding to the energy and thermal environment safety, Δη=η-η0.

8. The on-orbit communication method of omnidirectional measurement and control relay link in complex detector combination measurement and control mode according to claim 7 is characterized in that: Also includes: Step 6, according to the flight attitude of the detector omnidirectional measurement and control link on-orbit relay communication link building test determined in step 5, design the workflow of the detector on-orbit omnidirectional measurement and control relay link communication test; Step 7: Evaluate the test results obtained based on the workflow designed in step 6.

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