Mission planning method for dual-station relay of remote sensing satellite

Abstract

The present invention relates to a task planning method for a remote sensing satellite dual-station relay, which uses ground station A and ground station B to perform dual-station relay data transmission, including the following steps: establishing a dual-station relay data transmission geometric model; determining the antenna relay maneuvering duration and starting position; selecting a data transmission strategy based on the total data transmission duration of ground station A, the total data transmission duration of ground station B, the overlapping duration of data transmission of ground station A and ground station B, and the antenna relay maneuvering duration; when the data transmission strategy is dual-station relay, determining the relay start time and the satellite antenna lower viewing angle at the start time. The present invention realizes solving the dual-station relay time and a fast estimation method under the condition of known ground stations and orbits, providing a basis for the satellite dual-station relay task planning and design.

Description

Technical Field

[0001] The present invention relates to the technical field of satellite dual-station relay, and in particular to a task planning method for remote sensing satellite dual-station relay. Background Art

[0002] High-resolution remote sensing satellites generate a large amount of remote sensing data during their operation. The data transmission time of a single ground station is limited by the data transmission arc, so dual-station relay is required. However, antenna maneuvering during the dual-station relay process takes time. When the dual-station data transmission arcs overlap, it will affect the data transmission time. Therefore, it is necessary to select a suitable maneuver start time to minimize the relay maneuver time, and compare the relay extension time with the single-station data transmission time to decide whether to perform the dual-station relay task.

[0003] Therefore, designing a task planning method for dual-station relay of remote sensing satellites is an urgent problem to be solved. Summary of the invention

[0004] In order to solve the technical problems existing in the above-mentioned prior art, the purpose of the present invention is to provide a remote sensing satellite dual-station relay mission planning method, which realizes the solution of the dual-station relay time and satellite attitude when the dual-station positions and satellite orbit parameters are known, and provides a basis for satellite dual-station relay mission planning and control.

[0005] To achieve the above-mentioned purpose, the present invention provides a remote sensing satellite dual-station relay task planning method, which uses ground station A and ground station B to perform dual-station relay data transmission, including the following steps:

[0006] Step S1, establishing a dual-station relay data transmission geometric model;

[0007] Step S2, determining the duration and starting position of the antenna relay maneuver;

[0008] Step S3, selecting a data transmission strategy based on the total data transmission duration of ground station A, the total data transmission duration of ground station B, the overlapping duration of data transmission between ground station A and ground station B, and the duration of antenna relay maneuvering;

[0009] Step S4: When the data transmission strategy is dual-station relay, determine the relay start time and the downward viewing angle of the satellite antenna at the start time.

[0010] According to a technical solution of the present invention, the step S2 specifically includes:

[0011] When the satellite has a single antenna, the antenna relay maneuver duration ΔT is calculated based on the positions of the two stations in the inertial system and the position of the satellite in the inertial system, and the starting position is determined, or the antenna relay maneuver duration ΔT is approximately calculated based on the satellite relay maneuver angle, and the starting position is determined;

[0012] When the satellite has dual antennas that can rotate independently, the antenna relay maneuver duration ΔT is determined as the antenna switching time ΔT 12 , and determine the starting position.

[0013] According to a technical solution of the present invention, in step S2, based on the positions of the two stations in the inertial system and the position of the satellite in the inertial system, the antenna relay maneuvering time ΔT is calculated and the starting position is determined, which specifically includes:

[0014] The angular velocity of the satellite antenna is obtained as υ and the angular velocity of the satellite orbit is ω 0 , the start time of the data transmission arc of ground station A is t A0 , the end time is t A1 , the total data transmission time of ground station A is T A =t A0 -t A1 The starting time of the data transmission arc of the ground station B is t B0 , the end time is t B1 , the total data transmission time of ground station B is T B =t B0 -t B1 , then during the relay maneuver, the antenna maneuver angle α is

[0015]

[0016] The arc β traveled by the satellite is

[0017]

[0018] Then there is

[0019]

[0020] The maneuver end position is represented by M(x M ,y M , z M ), the ground station A is represented by A(x A ,y A , z A ), the ground station B is represented by B(x B ,y B , z B ), the starting position is represented by T(x T ,y T , z T ),

[0021] The relay maneuver duration ΔT is expressed as:

[0022] ΔT=min{ΔT 1 ,ΔT 2}.

[0023] According to a technical solution of the present invention, in step S2, when the satellite has a single antenna, the maneuver start time is t A0 -ΔT or t B0 , according to the relay maneuvering time ΔT, the position with shorter relay maneuvering time is selected as the starting position.

[0024] According to a technical solution of the present invention, in step S2, when the satellite has dual antennas that can rotate independently, the maneuver start time is t A0 -ΔT or t B0 , at this time the antenna rotation angle is the smallest.

[0025] According to a technical solution of the present invention, the step S2 and the step S3 specifically include:

[0026] When T A +T B -T S -ΔT≤max{T A ,T B}, there is no need to perform dual-station relay, choose single-station data transmission, and compare the data transmission time T between ground station A and ground station B. A and T B , then the data transmission time is max{T A ,T B};

[0027] When T A +T B -T S -ΔT>max{T A ,T B}, it is determined that the double-station relay can extend the data transmission time;

[0028] Among them, T A Indicates the total data transmission time of ground station A, T B Indicates the total data transmission time of ground station B, T S Indicates the overlapping duration of data transmission between ground station A and ground station B.

[0029] According to a technical solution of the present invention, based on the relative position relationship between ground station A and ground station B, the total data transmission time T of ground station A is calculated. A , the total data transmission time of ground station B is T B , and the overlapping time T of data transmission between ground station A and ground station B S .

[0030] Compared with the prior art, the present invention has the following beneficial effects:

[0031] The present invention proposes a remote sensing satellite dual-station relay mission planning method, which establishes a dual-station relay geometric model and, according to the relay mission characteristics under different circumstances, establishes a dual-station relay time and satellite attitude calculation model to solve the mission start time and attitude parameters. It realizes the solution of the dual-station relay time and satellite attitude when the dual-station positions and satellite orbit parameters are known, and provides a basis for satellite dual-station relay mission planning and control.

[0032] The present invention adopts a geometric method to realize the selection of the best relay position, calculates the relay maneuver starting time and position, and realizes the rapid estimation of the relay time. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0034] Figure 1 A flowchart schematically showing a task planning method for a remote sensing satellite dual-station relay according to an embodiment of the present invention;

[0035] Figure 2 A schematic diagram of a dual-station relay satellite attitude calculation model according to an embodiment of the present invention is schematically shown;

[0036] Figure 3 Schematically showing each moment during the relay according to one embodiment of the present invention Position in the Earth's center-solid system;

[0037] Figure 4 Schematically showing each moment during the relay according to one embodiment of the present invention Position in the Earth's center-solid system;

[0038] Figure 5 Schematically showing each moment during the relay according to one embodiment of the present invention and Position in the Earth's center-solid system;

[0039] Figure 6 Schematically showing the satellite position at the start time of the relay maneuver according to one embodiment of the present invention;

[0040] Figure 7 The satellite position at the end of the relay maneuver according to one embodiment of the present invention is schematically shown. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0042] like Figure 1 and Figure 2 As shown, a remote sensing satellite dual-station relay task planning method of the present invention uses ground station A and ground station B to perform dual-station relay data transmission, including the following steps:

[0043] Step S1, establishing a dual-station relay data transmission geometric model;

[0044] Satellites move in orbital planes, such as Figure 2 As shown in the figure, point T on the orbit is the starting position of the satellite relay, M is the end position of the relay, A and B represent two ground stations, and the Earth-centered Earth-fixed system O-XYZ is established. The coordinates of each point are T(x T ,y T , z T ), M(x M ,y M , z M ), A(x A ,y A , z A ), B(x B ,y B , z B ),like Figure 2 shown.

[0045] The antenna pointing vector at the beginning of the relay is Ends at The antenna maneuvering angle α is and Find the start time of antenna maneuvering so that the antenna maneuvering angle α is the smallest and the antenna relay maneuvering time is the shortest. Figure 2 , angle α is closest to The maximum value is at the midpoint. The midpoint position is used as the maneuver starting position, which can minimize the antenna maneuver angle α.

[0046] Step S2: Determine the duration and starting position of the antenna relay maneuver, specifically including:

[0047] When the satellite has a single antenna, the antenna relay maneuver duration ΔT is calculated and the starting position is determined based on the positions of the two stations in the inertial system and the position of the satellite in the inertial system, including:

[0048] The angular velocity of the satellite antenna is obtained as υ and the angular velocity of the satellite orbit is ω 0 , the start time of the data transmission arc of ground station A is t A0 , the end time is t A1 , the total data transmission time of ground station A is T A =t A0 -t A1 The starting time of the data transmission arc of the ground station B is t B0 , the end time is t B1 , the total data transmission time of ground station B is T B =t B0 -t B1 Since the relay satellite orbital plane is determined, the relative positions of ground station A and ground station B to the orbit are determined. According to the relative position relationship between ground station A and ground station B, the total data transmission time T of ground station A is calculated. A , the total data transmission time of ground station B is T B , and the overlapping duration of data transmission between ground station A and ground station B.

[0049] Then during the relay maneuver, the antenna maneuver angle α is

[0050]

[0051] The arc β traveled by the satellite is

[0052]

[0053] Then there is

[0054]

[0055] The maneuver end position is represented by M(x M ,y M , z M ), the ground station A is represented by A(x A ,y A , z A ), the ground station B is represented by B(x B ,y B , z B ), the starting position is represented by T(x T ,y T , z T ),

[0056] The relay maneuver duration ΔT is expressed as:

[0057] ΔT=min{ΔT 1 ,ΔT 2}.

[0058] During the antenna relay rotation process, the rotation angle of the antenna is a variable value and needs to be calculated according to formulas (1)-(4). In order to improve the calculation rate, an approximate calculation method is provided: the satellite relay maneuvering angle α = ∠ATB, T is the starting point of the satellite just entering the antenna range of ground station B or the end point of the antenna range of ground station A. That is, when the satellite is a single antenna, the satellite relay maneuvering angle approximately calculates the antenna relay maneuvering duration ΔT and determines the starting position, which can be used for rapid on-orbit mission planning, specifically expressed as:

[0059]

[0060] When the satellite has dual antennas that can rotate independently, the antenna relay maneuver duration ΔT is determined as the antenna switching time ΔT 12 , and determine the starting position, including:

[0061] When the satellite has dual antennas that can rotate independently, when the first antenna is transmitting data, the second antenna can be preset in attitude. When it reaches the predetermined position, the antenna can be switched. Suppose the antenna switching time is ΔT 12 , that is, the antenna relay maneuver duration ΔT = ΔT 12 , then the maneuver start time is t A0 -ΔT 12 or B0 , at this time, the preset antenna rotation angle is the smallest.

[0062] Step S3, based on the total duration of data transmission of ground station A, the total duration of data transmission of ground station B, the overlapping duration of data transmission of ground station A and ground station B, and the duration of antenna relay maneuvering, select a data transmission strategy, wherein step S3 specifically includes:

[0063] When T A +T B -T S -ΔT≤max{T A ,T B}, there is no need to perform dual-station relay, choose single-station data transmission, and compare the data transmission time T between ground station A and ground station B. A and T B , then the data transmission time is max{T A ,T B};

[0064] When T A +T B -T S -ΔT>max{T A ,T B}, it is determined that the double-station relay can extend the data transmission time;

[0065] Among them, T A Indicates the total data transmission time of ground station A, T BIndicates the total data transmission time of ground station B, T S Indicates the overlapping duration of data transmission between ground station A and ground station B.

[0066] Step S4: When the data transmission strategy is two-station relay, determine the relay start time as t A0 -ΔT or t B0 , and the viewing angle under the satellite antenna ∠OTA at the starting time.

[0067] The application effect of embodiment 1:

[0068] Taking a satellite operating in a sun-synchronous orbit as an example, the satellite orbit elements are a = 6870.71 km, e = 4.3651e-15, i = 97.4°, ω = 0°, Ω = 339.25°, M = 0°, the longitude and latitude of station A is A (22.82°E, 5.43°N), and the longitude and latitude of station B is B (35.70°E, 0.57°N). It can be calculated that T A =465.383s, T B =508.863s, T S = 275.634s, and the time at each moment during the relay can be obtained like Figure 3 As shown, like Figure 4 As shown, and like Figure 5 As shown; Assume that the satellite antenna rotation angular velocity υ = 2° / s, the satellite orbit angular velocity is ω 0 =0.0635° / s, ΔT is calculated 1 =22.270s, ΔT 2 =19.914s, then ΔT = ΔT 2 =19.914s, T A +T B -T S -ΔT>max{T A ,T B}, select the dual-station relay data transmission, and the start time of the dual-station relay maneuver is 12Oct 2023 22:40:05.727. According to the approximate calculation method, the relay ΔT = 20.568s is obtained. Compared with the exact value, the error is 3.3%, and the time difference is less than 1s, which can be used as the input for on-orbit rapid planning.

[0069] Set the relay maneuver start time in the STK software, such as Figure 6 As shown, the satellite antenna is now pointing to station A and begins to maneuver until the relay ends. Figure 7 As shown, the antenna is now pointing to station B, continuing the data transmission task.

[0070] Aiming at the application demand of remote sensing satellite dual-station relay, the present invention obtains the dual-station relay time by using the equation solving method on the basis of establishing a satellite dual-station relay time calculation model, further solves and obtains the satellite relay start time, and estimates the relay time and start time according to the relay position.

[0071] Parts of the present invention that are not described in detail belong to the well-known technology in the art.

[0072] It should be noted that although the embodiments of the present invention described above are illustrative, they are not intended to limit the present invention, and therefore the present invention is not limited to the above specific embodiments. Without departing from the principles of the present invention, any other embodiments obtained by those skilled in the art under the guidance of the present invention are deemed to be within the protection of the present invention.

Claims

1. A remote sensing satellite dual-station relay mission planning method, characterized in that: Using ground station A and ground station B to perform dual-station relay data transmission includes the following steps: Step S1, establishing a dual-station relay data transmission geometric model; Step S2, determining the duration and starting position of the antenna relay maneuver; Step S3, selecting a data transmission strategy based on the total data transmission duration of ground station A, the total data transmission duration of ground station B, the overlapping duration of data transmission between ground station A and ground station B, and the duration of antenna relay maneuvering; Step S4: When the data transmission strategy is dual-station relay, determine the relay start time and the downward viewing angle of the satellite antenna at the start time.

2. The remote sensing satellite dual-station relay mission planning method according to claim 1 is characterized in that: The step S2 specifically includes: When the satellite has a single antenna, the antenna relay maneuver duration ΔT is calculated based on the positions of the two stations in the inertial system and the position of the satellite in the inertial system, and the starting position is determined, or the antenna relay maneuver duration ΔT is approximately calculated based on the satellite relay maneuver angle, and the starting position is determined; When the satellite has dual antennas that can rotate independently, the antenna relay maneuver duration ΔT is determined as the antenna switching time ΔT 12 , and determine the starting position.

3. The remote sensing satellite dual-station relay task planning method according to claim 2 is characterized in that: In the step S2, based on the positions of the two stations in the inertial system and the position of the satellite in the inertial system, the antenna relay maneuvering time ΔT is calculated and the starting position is determined, which specifically includes: The satellite antenna rotation angular velocity is obtained as v, the satellite orbit angular velocity is ω0, and the start time of the ground station A data transmission arc is t A0 , the end time is t A1 , the total data transmission time of ground station A is T A =t A0 -t A1 The starting time of the data transmission arc of the ground station B is t B0 , the end time is t B1 , the total data transmission time of ground station B is T B =t B0 -t B1 , then during the relay maneuver, the antenna maneuver angle α is The arc β traveled by the satellite is Then there is The maneuver end position is represented by M(x M ,y M , z M ), the ground station A is represented by A(x A ,y A , z A ), the ground station B is represented by B(x B ,y B , z B ), the starting position is represented by T(x T ,y T , z T ), The relay maneuver duration ΔT is expressed as: ΔT=min{ΔT1,ΔT2}.

4. The remote sensing satellite dual-station relay task planning method according to claim 3 is characterized in that: In step S2, when the satellite has a single antenna, the maneuver start time is t A0 -ΔT or t B0 , according to the relay maneuvering time ΔT, the position with shorter relay maneuvering time is selected as the starting position.

5. The remote sensing satellite dual-station relay mission planning method according to claim 3 is characterized in that: In step S2, when the satellite has dual antennas that can rotate independently, the maneuvering start time is t A0 -ΔT or t B0 , at this time the antenna rotation angle is the smallest.

6. The remote sensing satellite dual-station relay mission planning method according to claim 3 is characterized in that: The step S2 and the step S3 specifically include: When T A +T B -T S -ΔT≤max{T A ,T B }, there is no need to perform dual-station relay, choose single-station data transmission, and compare the data transmission time T between ground station A and ground station B. A and T B , then the data transmission time is max{T A ,T B }; When T A +T B -T S -ΔT>max{T A ,T B }, it is determined that the double-station relay can extend the data transmission time; Among them, T A Indicates the total data transmission time of ground station A, T B Indicates the total data transmission time of ground station B, T S Indicates the overlapping duration of data transmission between ground station A and ground station B.

7. The remote sensing satellite dual-station relay task planning method according to claim 6 is characterized in that: According to the relative position relationship between ground station A and ground station B, calculate the total data transmission time T of ground station A. A , the total data transmission time of ground station B is T B , and the overlapping time T of data transmission between ground station A and ground station B S .

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