On-satellite real-time wave control method for ground coarse gauge-on-satellite fine calibration type satellite-borne SAR (Synthetic Aperture Radar) scene matching curve imaging

Abstract

The invention discloses an on-satellite real-time wave control method for satellite-borne SAR (synthetic aperture radar) scene matching curve imaging in a ground coarse gauge-on-satellite fine calibration mode. Under the condition that a satellite actual orbit, a satellite forecast orbit, a ground wave foot sequence and maneuvering attitudes corresponding to the satellite forecast orbit are known, the maneuvering attitudes corresponding to the ground wave foot sequence and the satellite forecast orbit are known; an orbit error model needs to be established according to a satellite-borne SAR scene matching curve imaging beam control method and change characteristics of a satellite maneuvering attitude, and azimuth and range errors of a satellite orbit are compensated in real time through a time-shifting maneuvering attitude sequence and by utilizing the position of an actual orbit under an earth-fixed system and a transfer matrix from an antenna body system to an earth inertial system. And obtaining a corrected satellite maneuvering attitude sequence. According to the method, the problem that the imaging band cannot be matched with the curve scene due to the actual orbit error when the conventional beam control method is used under the condition that the error exists in the forecast orbit is solved, and the defects in the prior art are overcome.

Description

Technical Field

[0001] The invention belongs to the technical field of synthetic aperture radar, and in particular relates to a "rough calibration on the ground - precise calibration on the satellite" type satellite-borne SAR scene matching curve imaging on-board real-time wave control method. Background Art

[0002] The imaging band in conventional spaceborne synthetic aperture radar (SAR) is parallel to the satellite orbit. When imaging long curved scenes such as rivers, coastlines, and seismic zones, there are problems such as incomplete single observations and poor timeliness of multiple observations. Spaceborne SAR scene matching curve imaging significantly improves the observation timeliness of long curved scenes by customizing the generation of imaging bands that match the scene and have uniform azimuth resolution. The core of scene matching curve imaging is two-dimensional nonlinear beam control, which needs to be designed based on orbital parameters. However, due to the deviation between the actual orbit and the predicted orbit, if the beam control design result based on the predicted orbit is directly adopted, the imaging band will deviate from the target scene and the imaging will not match.

[0003] Conventional beam control correction methods usually compensate for constant deviations in beam control, but due to the nonlinear changes of the beam in curved imaging, accurate correction cannot be achieved if conventional beam control correction methods are used. Therefore, it is necessary to establish an orbit error model based on the characteristics of the beam control method for spaceborne SAR scene matching curved imaging and the change of satellite maneuvering attitude, analyze the impact of range and azimuth orbit errors on ground wave feet, and study the real-time compensation method for maneuvering attitude errors, so that the beam can be illuminated along the scene, solving the problem that the imaging band cannot match the curved scene due to the actual orbit error. Summary of the invention

[0004] In view of this, the present invention provides a real-time beam control method for spaceborne SAR scene matching curve imaging of the "rough calibration on the ground - fine calibration on the satellite" type, which realizes that after real-time compensation of maneuvering attitude errors in the curve imaging band, the beam can be irradiated along the scene, solving the problem that the imaging band cannot match the curve scene due to actual orbit errors.

[0005] To achieve the above object, the technical solution of the present invention comprises the following steps:

[0006] Step 1: Using the predicted orbit and the geometric configuration-based design method, the uncorrected satellite maneuver attitude sequence is output;

[0007] Step 2: Input the actual orbit, establish the error model between the predicted orbit and the actual orbit, and extract the range and azimuth errors;

[0008] Step 3: Time-shift the satellite maneuver attitude sequence to compensate for the satellite orbit azimuth error;

[0009] Step 4: Based on the actual orbit position in the earth fixed system and the transfer matrix from the antenna system to the earth inertial system, the satellite orbit range error is compensated and the final corrected satellite maneuver attitude sequence is output;

[0010] Furthermore, the step 1 comprises:

[0011] Step 1.1: Select the satellite arc according to the predicted satellite orbit and constraints;

[0012] Step 1.2: Establish the coordinate system according to the scene matching curve imaging observation configuration;

[0013] Step 1.3: Based on the observation configuration and coordinate system, output the beam maneuver attitude sequence corresponding to the predicted orbit;

[0014] Furthermore, the step 2 comprises:

[0015] Step 2.1: By using the first point positions O and O' of the actual orbit and the predicted orbit under the ground fixed system, the distance between the two orbits is calculated to be R = ||O-O'||2;

[0016] Step 2.2: Calculate the distance R based on the distances of O and O' from the center of the earth rng , through the total distance R and the distance to the distance R rng The azimuth distance R between the two tracks can be obtained azi ;

[0017] Further, the step 4 comprises:

[0018] Step 4.1: Using the actual track position under the ground fixed system i With ground wave foot T i and the non-tracking mode beam control method of the spaceborne SAR, respectively obtain the satellite beam pointing B in the earth inertial system Int_i and the transfer matrix H from the antenna system to the earth's inertial system sat2int ;

[0019] Step 4.2: Use the satellite's beam pointing in the Earth's inertial frame and B Int_i The transfer matrix H from the antenna system to the earth's inertial system sat2int , obtain the satellite maneuver attitude sequence after range orbit error compensation, and output the final corrected roll, pitch, and yaw angle sequence;

[0020] Furthermore, the coordinate system established in step 1.2 includes a satellite orbit coordinate system, a SAR coordinate system, and a ground coordinate system, and the transfer matrix between the coordinate systems is obtained from the geometric relationship in the observation configuration.

[0021] 3. The method according to claim 1 is characterized in that in step 1.3, based on the observation configuration and coordinate system, the azimuth resolution and range width are parameterized and modeled, and the wave foot tracking algorithm is used to iterate the wave foot trajectory moment by moment to achieve wave foot growth, and the wave foot trajectory that meets the constraints and covers all target points is obtained, and the beam maneuvering attitude sequence corresponding to the predicted orbit is output.

[0022] Further, the formula for calculating the distance R between the two tracks in step 2 is:

[0023] R=||O-O'||2 (1)

[0024] Calculate the distance R between the two tracks rng The formula is:

[0025] R rng =|||O||2-||O'||2| (2)

[0026] Calculate the azimuth distance R between the two tracks azi The formula is:

[0027]

[0028] Where O is the first point of the actual orbit and O' is the first point of the predicted orbit.

[0029] Furthermore, the expression of the time Δt of the satellite maneuvering attitude sequence time shift in step 3 is:

[0030] Δt=R azi / V s (4)

[0031] Where V s is the satellite speed.

[0032] The formula of satellite maneuver attitude ·1(t) after azimuth orbit error compensation is:

[0033]

[0034] Among them, Φ, Θ, Ψ are the roll angle, pitch angle, and yaw angle in the Euler angle respectively, and ·(t) represents the satellite maneuver attitude corresponding to the predicted orbit.

[0035] Furthermore, the transfer matrix H from the antenna system to the earth inertial system in step 4.1 is sat2int The calculation formula is:

[0036] H sat2int =H orbit2iner ·H sat2orbit (6)

[0037]

[0038] Among them, H sat2orbit is the transfer matrix from the antenna system to the satellite orbit system, H orbit2iner It is the transfer matrix from the satellite orbit system to the Earth's inertial system, Ω is the right ascension of the ascending node, u is the argument of latitude, and i is the orbital inclination.

[0039] Furthermore, the relationship of the corrected maneuvering posture sequence solved in step 4.2 is:

[0040] B Int_i =H sat2orbit [0,0,1] T (9)

[0041]

[0042] Among them, B Int_i is the beam pointing in the Earth inertial system, B Int_i (x), B Int_i (y) and B Int_i (z) respectively represent B Int_i The three-axis components, a 11 ~a 33 They are:

[0043]

[0044] In the 3-2-1 attitude transition sequence, when the yaw angle is approximately 0, the analytical expression of the roll, pitch, and yaw angle sequence is:

[0045]

[0046] Finally, the corrected roll, pitch, and yaw angle sequences Φ2(t), Θ2(t), and Ψ2(t) are obtained, as shown in the following formula:

[0047]

[0048] Beneficial effects:

[0049] (1) Improving the robustness of imaging tasks: Conventional beam control correction methods usually compensate for constant deviations in beam control. However, due to the nonlinear changes in the beam in curved imaging, the changes in beam control errors are also nonlinear. If conventional beam control correction methods are used, the imaging band will not match the curved scene. To this end, the present invention establishes an orbit error model to compensate for the satellite orbit azimuth and range errors, and obtains a corrected satellite maneuvering attitude sequence so that the imaging band matches the scene. The kilometer-level wave foot error caused by the original orbit error is corrected to the sub-meter level, which improves the robustness of the imaging task.

[0050] (2) Low computational complexity: The curved imaging task needs to be executed based on the actual orbit. After the ground station plans based on the predicted orbit, it needs to plan again based on the actual orbit, which takes a long time. If the on-board real-time wave control method is used, the ground station still plans based on the predicted orbit first. After obtaining the actual orbit, it only needs to perform on-board corrections on the satellite maneuver attitude sequence based on the orbit error. This reduces the computational complexity by an order of magnitude compared to redesigning on the ground. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 This is a flow chart of the onboard real-time wave control method for onboard SAR scene matching curve imaging of the "ground rough calibration-onboard fine calibration" type described in the present invention;

[0052] Figure 2 It is a schematic diagram of the satellite orbit coordinate system, SAR coordinate system, and ground coordinate system of the present invention;

[0053] Figure 3 It is a schematic diagram of the actual orbit and predicted orbit of the spaceborne SAR satellite and the range error and azimuth error of the present invention;

[0054] Figure 4 is the error value between the actual orbit and the predicted orbit of the method proposed in the present invention in the embodiment;

[0055] Figure 5 are simulation results of the roll, pitch, yaw angles Φ(t), Θ(t), Ψ(t) before correction and the roll, pitch, yaw angles Φ2(t), Θ2(t), Ψ2(t) after correction according to the method of the present invention in the embodiment;

[0056] Figure 6 It is the simulation result of the wave foot before and after correction and the error between the wave foot and the theoretical wave foot according to the method proposed in the present invention in the embodiment. DETAILED DESCRIPTION

[0057] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

[0058] The flowchart of the on-board real-time wave control method of the on-board SAR scene matching curve imaging of the "ground rough calibration-on-board fine calibration" type of the present invention is as follows: Figure 1 As shown, the present invention comprises the following steps:

[0059] Step 1: Using the predicted orbit and the geometric configuration-based design method, output the uncorrected satellite maneuver attitude sequence:

[0060] The core of geometric configuration design is the wave foot tracking algorithm, which iterates the wave foot velocity vector moment by moment, calculates the beam maneuvering attitude sequence, and achieves uniform resolution. The specific steps are as follows:

[0061] Step 1.1: Select the satellite arc according to the predicted satellite orbit and constraints:

[0062] It is necessary to calculate the change in the viewing angle of the satellite at different positions for each target point in the curved scene according to the predicted orbit, and select the satellite arc segment within the viewing angle constraint range of the satellite platform and visible to the target point of the curved scene;

[0063] Step 1.2: Establish the coordinate system according to the scene matching curve imaging observation configuration:

[0064] According to the scene matching curve imaging observation configuration, the satellite orbit coordinate system, SAR coordinate system, ground coordinate system, etc. are established, such as Figure 2 As shown. The transfer matrix between coordinate systems can be obtained from the geometric relationship in the observation configuration;

[0065] Step 1.3: Based on the observation configuration and coordinate system, output the beam maneuver attitude sequence corresponding to the predicted orbit:

[0066] Based on the observation configuration and coordinate system, the azimuth resolution and range width are parameterized and modeled. The wave foot tracking algorithm is used to iterate the wave foot trajectory moment by moment to grow the wave foot, taking into account constraints such as uniform azimuth resolution and beam viewing angle maneuverability. The wave foot trajectory that meets the constraints and covers all target points is obtained, and the beam maneuvering attitude sequence corresponding to the predicted orbit is output.

[0067] Step 2: Input the actual orbit, establish the error model between the predicted orbit and the actual orbit, and extract the range and azimuth errors:

[0068] Step 2.1: Calculate the distance between the two tracks by using the actual track and the predicted track first point position under the ground fixed system:

[0069] Generally speaking, the speed and position of the satellite are expressed in the ground-fixed system. At the same time, the predicted orbit will have a range and azimuth offset compared to the actual orbit. The range offset is usually only a few dozen meters, while the azimuth offset is related to the wave foot velocity, which is generally 2 seconds. Therefore, to simplify the analysis, the actual orbit and the predicted orbit can be considered parallel. In the ground-fixed system, select the first point of the actual orbit O = (x, y, z), the first point of the predicted orbit O' = (x', y', z'), and the distance between the two orbits can be obtained as R = ||O-O'||2.

[0070] The distance between the two tracks is R rng It can be obtained by the difference in distance between its first point O and O' and the center of the earth, as shown in the following formula:

[0071] R rng =|||O||2-||O'||2| (1)

[0072] Step 2.2: Calculate the distance in the range direction based on the distance from the first point to the center of the earth. The azimuth distance of the two tracks can be obtained through the total distance and the distance in the range direction:

[0073] The azimuth distance R between the two tracks azi The total distance R and the distance to distance R rng It is obtained by the Pythagorean theorem, as shown below:

[0074]

[0075] The distance between the actual orbit and the predicted orbit is R rng and azimuth distance R azi , which is the satellite orbit error between the actual orbit and the predicted orbit in range and azimuth directions, as shown in the schematic diagram Figure 3 shown.

[0076] Step 3: Time-shift the satellite maneuver attitude sequence to compensate for the satellite orbit azimuth error:

[0077] Satellite orbit azimuth error R azi The compensation is affected by the satellite velocity V s The expression of the time shift Δt of the satellite maneuvering attitude sequence is as follows:

[0078] Δt=R azi / V s (3)

[0079] The satellite maneuvering attitude ·1(t) after azimuth orbit error compensation is as follows:

[0080]

[0081] Among them, Φ, Θ, Ψ are the roll angle, pitch angle, and yaw angle in the Euler angle respectively, and ·(t) represents the satellite maneuver attitude corresponding to the predicted orbit.

[0082] Step 4: Based on the actual orbit position in the earth fixed system and the transfer matrix from the antenna system to the earth inertial system, compensate for the satellite orbit range error and output the final corrected satellite maneuver attitude sequence:

[0083] Step 4.1: Using the actual orbit position in the Earth-fixed system, the ground wave foot and the beam control method of the spaceborne SAR off-track mode, the beam pointing of the satellite in the Earth-inertial system and the transfer matrix from the antenna system to the Earth-inertial system are obtained respectively:

[0084] Select any point on the actual track i =(x i ,y i ,z i ), the corresponding ground wave foot position T i=(R xi ,R yi ,R zi ), then the distance R between the point on the current track and the corresponding ground wave foot position can be obtained OT_i =||O i T i ||2.

[0085] Therefore, the beam pointing direction B under the ground-fixed system can be obtained ECEF_i , as shown below:

[0086]

[0087] At the same time, the earth fixed system and the earth inertial system can be converted to each other. Through the conversion relationship, the beam pointing B in the earth inertial system can be easily obtained Int_i In the SAR system, the beam is pointed along the Z axis, that is, B SAR_i =[0; 0; 1]. The SAR antenna is usually fixed to the satellite platform. Therefore, in the antenna system, to simplify the calculation, its beam pointing can also be approximated as B SAT_i ≈B SAR_i =[0;0;1].

[0088] For the transfer matrix H from the antenna system to the ground inertial system sat2int , which consists of two parts: the transfer matrix H from the antenna system to the satellite orbit system sat2orbit and the transfer matrix H from the satellite orbit system to the Earth inertial system orbit2iner The transfer matrix H from the antenna system to the satellite orbit system sat2orbit Generally, Euler angles are used for description. For the same transfer matrix, different Euler angle conversion sequences correspond to different solution methods. This patent adopts the 3-2-1 (yaw-pitch-roll) attitude conversion sequence; the transfer matrix H from the satellite orbit system to the earth inertial system is orbit2iner Generally, the six elements of the orbit are used for description. The relationship and expression of the three transfer matrices are as follows:

[0089] H sat2int =H orbit2iner ·H sat2orbit (6)

[0090]

[0091]

[0092] Among them, Ω is the right ascension of the ascending node, u is the argument of latitude, and i is the orbital inclination.

[0093] Step 4.2: Using the satellite's beam pointing in the Earth's inertial system and the transfer matrix from the antenna system to the Earth's inertial system, obtain the satellite maneuvering attitude sequence compensated for the range orbit error, and output the final corrected roll, pitch, and yaw angle sequence:

[0094] Using the obtained beam pointing to B in the Earth inertial system Int_i 、B SAT_i By combining equations (6) to (8), the corrected maneuvering attitude sequence can be solved, and the relationship is as follows:

[0095] B Int_i =H sat2orbit [0,0,1] T (9)

[0096] For simplicity, in the 3-2-1 attitude transition sequence, the yaw angle ψ is considered to be approximately 0. Combining equations (6) to (8), equation (9) is expressed as follows:

[0097]

[0098] Among them, B Int_i (x), B Int_i (y) and B Int_i (z) respectively represent B Int_i The three-axis components, a 11 ~a 33 They are:

[0099]

[0100] make Get roll, pitch, yaw angles The analytical expression of the θ, ψ sequence is:

[0101]

[0102] Based on equations (10) and (11), the expressions of A, B, and C are:

[0103]

[0104] Substituting equation (13) into equation (12), we can finally obtain the corrected roll, pitch, and yaw angle sequences Φ2(t), Θ2(t), and Ψ2(t), as shown in the following equation:

[0105]

[0106] The above method effectively solves the problem that the imaging band cannot match the curved scene due to the actual orbit error when the conventional beam control method is used when there is an error in the predicted orbit. The on-board real-time beam control method of spaceborne SAR scene matching curve imaging of the "ground rough calibration-on-board fine calibration" type is used to give the final corrected roll, pitch, yaw angle Φ2(t), Θ2(t), Ψ2(t) sequence, thereby expanding the existing spaceborne SAR scene matching curve imaging system and completing the spaceborne SAR scene matching curve imaging beam control correction based on orbit error.

[0107] Simulation experiment: The simulation parameters of the on-board real-time beam control of the spaceborne SAR scene matching curve imaging of the “ground rough calibration-on-board fine calibration” type are shown in Table 1.

[0108] Table 1 List of on-board real-time beam control simulation parameters for spaceborne SAR scene matching curve imaging of the “ground rough calibration-on-board fine calibration” type

[0109]

[0110] In order to verify the effectiveness of the on-board real-time wave control method of spaceborne SAR scene matching curve imaging of the "rough rule on the ground-precision calibration on the satellite", the on-board real-time wave control of spaceborne SAR scene matching curve imaging of the "rough rule on the ground-precision calibration on the satellite" described in this patent is used under the parameters in Table 1 to correct a set of orbits and corresponding maneuvering attitudes.

[0111] exist Figure 4 The error values ​​of the actual orbit and the predicted orbit in the design of the spaceborne SAR scene matching curve imaging system are given in Figure 5 The comparison of maneuvering attitude sequences using the onboard real-time beam control method of spaceborne SAR scene matching curve imaging using the "ground rough calibration-onboard fine calibration" type is given in Figure 6 The comparison of ground wave foot using the onboard real-time wave control method of spaceborne SAR scene matching curve imaging with the "ground rough calibration-onboard fine calibration" method is given in the paper. Figure 6 (a) shows the comparison of the ground wave foot before correction, the ground wave foot corrected only in azimuth, and the ground wave foot corrected in range and azimuth. Figure 6 (b) shows a partial enlarged view of the ground wave foot corrected only in azimuth and the ground wave foot corrected in range and azimuth. Figure 6(c) gives the error value between the theoretical ground wave foot and the ground wave foot after two-dimensional correction. For the azimuth resolution fluctuation, before the maneuvering attitude correction, the azimuth resolution fluctuation is 4.56%; after the correction, the azimuth resolution fluctuation is 7.40%, so it is necessary to sacrifice the azimuth resolution uniformity as a price. It can be seen that after the maneuvering attitude correction, the method proposed in the present invention can effectively compensate for the ground wave foot offset caused by orbit update in real time, and realize the "ground rough calibration-on-board fine calibration" type of on-board real-time wave control of satellite-borne SAR scene matching curve imaging.

[0112] It can be seen that the present invention provides a "rough calibration on the ground - precise calibration on the satellite" type satellite-borne SAR scene matching curve imaging on-board real-time beam control method. When the actual satellite orbit, the predicted satellite orbit, the ground wave foot sequence and the maneuvering attitude corresponding to the predicted satellite orbit are known, it is necessary to establish an orbit error model based on the satellite-borne SAR scene matching curve imaging beam control method and the changing characteristics of the satellite maneuvering attitude, and compensate for the satellite orbit azimuth and range errors in real time by time-shifting the maneuvering attitude sequence and using the position of the actual orbit in the ground fixed system and the transfer matrix from the antenna system to the ground inertial system to obtain the corrected satellite maneuvering attitude sequence. The present invention solves the problem that the imaging band cannot match the curve scene due to the actual orbit error when the conventional beam control method is used when there is an error in the predicted orbit, and makes up for the shortcomings of the prior art.

[0113] Of course, the present invention may have many other embodiments. Without departing from the spirit and essence of the present invention, those skilled in the art may certainly make various corresponding changes and modifications based on the present invention, but these corresponding changes and modifications should all fall within the scope of protection of the claims attached to the present invention.

Claims

1. A "ground rough calibration - on-board fine calibration" type on-board real-time beam control method for spaceborne SAR scene matching curve imaging, characterized in that: The steps include: Step 1: Using the predicted orbit and the geometric configuration-based design method, output the uncorrected satellite maneuver attitude sequence; Step 1.1: Select the satellite arc according to the predicted satellite orbit and constraints; Step 1.2: Establish the coordinate system according to the scene matching curve imaging observation configuration; Step 1.3: Based on the observation configuration and coordinate system, output the beam maneuver attitude sequence corresponding to the predicted orbit; Step 2: Input the actual orbit, establish the error model between the predicted orbit and the actual orbit, and extract the range and azimuth errors; Step 2.1: Calculate the distance between the two orbits by using the actual orbit and the predicted orbital first point position under the ground fixed system; Step 2.2: Calculate the distance in the range direction based on the distance from the first point to the center of the earth. The azimuth distance of the two tracks can be obtained through the total distance and the distance in the range direction. Step 3: Time-shift the satellite maneuver attitude sequence to compensate for the satellite orbit azimuth error; Step 4: Based on the position of the actual orbit in the earth-fixed system and the transfer matrix from the antenna system to the earth-inertial system, compensate for the satellite orbit range error and output the final corrected satellite maneuver attitude sequence; Step 4.1: Using the actual orbit position in the earth-fixed system, the ground wave foot and the beam control method of the spaceborne SAR off-track mode, the beam pointing of the satellite in the earth-inertial system and the transfer matrix from the antenna system to the earth-inertial system are obtained respectively; Step 4.2: Using the satellite's beam pointing in the Earth's inertial system and the transfer matrix from the antenna system to the Earth's inertial system, obtain the satellite maneuvering attitude sequence compensated for the range orbit error, and output the final corrected roll, pitch, and yaw angle sequence.

2. The method according to claim 1, characterized in that The coordinate system established in step 1.2 includes a satellite orbit coordinate system, a SAR coordinate system, and a ground coordinate system, and the transfer matrix between the coordinate systems is obtained from the geometric relationship in the observation configuration.

3. The method according to claim 1, characterized in that In the step 1.3, based on the observation configuration and coordinate system, the azimuth resolution and range width are parameterized and modeled, and the wave foot tracking algorithm is used to integrate constraints such as azimuth uniform resolution and beam viewing angle maneuverability, and the wave foot trajectory is iterated moment by moment to achieve wave foot growth, so as to obtain a wave foot trajectory that meets the constraints and covers all target points, and output a beam maneuvering attitude sequence corresponding to the predicted orbit.

4. The method according to claim 1, characterized in that: The formula for calculating the distance R between the two tracks in step 2 is: R=‖O-O'‖2 Calculate the distance R between the two tracks rng The formula is: R rng =||O||2-‖O'||2| Calculate the azimuth distance R between the two tracks azi The formula is: Where O is the first point of the actual orbit and O' is the first point of the predicted orbit.

5. The method according to claim 1, characterized in that: The expression of the time Δt of the satellite maneuver attitude sequence time shift in step 3 is: Δt=R azi / V s Where V s is the satellite speed. The formula of satellite maneuver attitude ·1(t) after azimuth orbit error compensation is: Among them, Φ, Θ, Ψ are the roll angle, pitch angle, and yaw angle in the Euler angle respectively, and ·(t) represents the satellite maneuver attitude corresponding to the predicted orbit.

6. The method according to claim 1, characterized in that The transfer matrix H from the antenna system to the ground inertial system in step 4.1 is sat2int The calculation formula is: H sat2int =H orbit2iner ·H sat2orbit Among them, H sat2orbit is the transfer matrix from the antenna system to the satellite orbit system, H orbit2iner It is the transfer matrix from the satellite orbit system to the Earth's inertial system, Ω is the right ascension of the ascending node, u is the argument of latitude, and i is the orbital inclination.

7. The method according to claim 1, characterized in that The relationship of solving the corrected maneuvering posture sequence in step 4.2 is: B Int_i =H sat2orbit ·[0,0,1] T Among them, B Int_i is the beam pointing in the Earth inertial system, B Int_i (x), B Int_i (y) and B Int_i (z) respectively represent B Int_i The three-axis components, a 11 ~a 33 They are: In the 3-2-1 attitude transition sequence, when the yaw angle is approximately 0, the analytical expression of the roll, pitch, and yaw angle sequence is: Finally, the corrected roll, pitch, and yaw angle sequences Φ2(t), Θ2(t), and Ψ2(t) are obtained, as shown in the following formula:

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