Moon conduction remote satellite formation system and cooperative work method

Abstract

The invention provides a lunar conduction remote satellite formation system and a cooperative work method, the system is deployed in a lunar orbit, and through cooperative work among satellites in the system, the satellite formation system is matched with a ground Ka measurement and control station to jointly provide communication, navigation and remote sensing services for lunar users. The lunar conduction remote satellite formation system comprises a master satellite and slave satellites, wherein the master satellite comprises a satellite-ground high-speed measurement and control unit, an inter-satellite link unit, a communication load, a navigation load, an ultra-stable time frequency unit and a comprehensive electronic unit; the slave satellite comprises a measurement and control unit, an inter-satellite link unit, a communication load, a navigation load, a remote sensing load and a comprehensive electronic unit. Through the arrangement of the lunar orbit, the configuration of the communication navigation remote sensing function and the cooperation of satellites in the system, comprehensive communication and remote sensing services are provided for lunar users in the lunar space where signals of an earth navigation system cannot cover and signals of a ground measurement and control system are limited to cover.

Description

Technical Field

[0001] The present invention relates to the field of deep space exploration technology, and in particular to a lunar navigation and remote sensing satellite formation system and a collaborative working method. Background Art

[0002] In recent years, the field of lunar exploration has achieved vigorous development. All major space powers have proposed lunar exploration mission plans and are gradually implementing them. The communication and navigation support of lunar probes is one of the important prerequisites for the normal development of lunar exploration activities. Unmanned lunar exploration and manned lunar landing also require detailed lunar remote sensing data support.

[0003] In the current lunar exploration activities, the communication services of the probe are basically provided by ground tracking and control stations. In areas that are difficult to cover by ground tracking and control stations, such as the back side of the moon and the poles, relay communication support is provided by lunar orbit relay communication satellites. The navigation service of the probe is basically provided by the ground tracking and control station after determining the orbit of the probe and then adding the orbit and timing to the probe. Remote sensing data is mainly realized by carrying remote sensing payloads on the lunar probe and transmitting the data to the ground tracking and control station.

[0004] It can be seen that the current lunar communication, navigation and remote sensing services rely more on ground tracking and control stations or special satellites, and the service coverage and the number of service users are limited. With the increase in the number of lunar probes and the in-depth development of the moon in the far side of the moon, the polar regions and other areas, relying solely on ground tracking and control stations can no longer meet the communication and navigation support needs of future lunar exploration. Therefore, it is urgent to develop a lunar communication, navigation and remote sensing system to provide full-time and full-domain service support for lunar exploration activities. Compared with a single or a small number of single-function satellites, a certain formation configuration of several satellites in the lunar orbit, each satellite in the formation works together and communicates with each other to achieve signal coverage of key areas of the moon, and jointly achieve communication, navigation, remote sensing and other tasks. It is a low-cost, good-performance, high-reliability and strong adaptability technical route.

[0005] There are many problems with the existing lunar communications, navigation and remote sensing services. For example, Chinese patent application CN202410296750.1 proposes a lunar extremely low orbit dual-satellite detection method, which consists of two satellites. Both satellites are located in the same circular orbit around the moon and carry specific environmental element detection payloads to obtain the physical field characteristics of the near-moon space and depict the scene of the entry and exit of materials in the near-moon space, but it does not involve communication and navigation functions. Chinese patent application CN115955266A proposes a method for the linkage of integrated communication, navigation and remote sensing satellites, constellations and their functions. Multiple integrated communication, navigation and remote sensing satellites transmit information through inter-satellite transmission equipment and form a constellation. The constellation and the ground segment form a space-ground integrated network. However, the satellites are arranged in the Earth's orbit and cannot provide relay communication, navigation and remote sensing services for lunar users. Summary of the invention

[0006] In order to solve the above technical problems, the present invention provides a lunar communication, navigation and remote sensing satellite formation system and a collaborative working method. Through the setting of the lunar orbit, the configuration of communication, navigation and remote sensing functions, and the coordination of satellites in the system, comprehensive communication, navigation and remote sensing services are provided to lunar users in the lunar space where the earth navigation system signal cannot cover and the ground measurement and control system signal has limited coverage.

[0007] To achieve the above object, the present invention adopts the following technical solution:

[0008] A lunar communication, navigation and remote sensing satellite formation system, deployed in lunar orbit, provides communication, navigation and remote sensing services to lunar users through the coordinated work between satellites in the system and the cooperation between the satellite formation system and the ground Ka tracking and control station;

[0009] The lunar communication, navigation and remote sensing satellite formation system includes a master satellite and a slave satellite. The master satellite includes a satellite-to-ground high-speed measurement and control unit, an intersatellite link unit, a communication payload, a navigation payload, an ultra-stable time and frequency unit and an integrated electronic unit; the slave satellite includes a measurement and control unit, an intersatellite link unit, a communication payload, a navigation payload, a remote sensing payload and an integrated electronic unit.

[0010] The satellite-to-ground high-speed measurement and control unit establishes a Ka-band bidirectional satellite-to-ground high-speed link with the ground Ka measurement and control station, which is used for the ground Ka measurement and control station to conduct bidirectional high-speed communication with the main satellite and to determine the orbit of the main satellite;

[0011] The intersatellite link unit is used to establish intersatellite links between lunar navigation and remote sensing satellites for intersatellite communication, ranging and time synchronization;

[0012] The communication payload establishes a two-way communication satellite-moon link with lunar users;

[0013] The navigation payload can send navigation signals to lunar users, providing navigation, positioning and timing services;

[0014] The ultra-stable time and frequency unit uses the onboard atomic clock to provide highly stable time and frequency reference signals for the host satellite;

[0015] The integrated electronic unit is the business management, data storage and processing unit of the lunar navigation and remote sensing satellite;

[0016] The measurement and control unit is used by the ground measurement and control station to measure and control the slave satellite;

[0017] The remote sensing payload has the capability of remote sensing imaging of the moon.

[0018] Furthermore, the satellite-to-ground high-speed measurement and control unit includes a high-speed communicator, a Ka low-gain antenna and a Ka high-gain antenna. The Ka low-gain antenna is selected for conventional measurement and control, and the Ka high-gain antenna is selected when high-speed uplink and downlink are required. The signal modulation method is a GMSK+PN system that can realize the integration of high-speed communication and ranging. The GMSK signal is used to transmit high-speed data, and the PN signal is used to regenerate pseudo-code ranging.

[0019] Furthermore, the intersatellite link unit includes a Ka phased array antenna and an intersatellite measurement communicator. The Ka phased array antenna quickly establishes an intersatellite bidirectional link through flexible beam scanning. The intersatellite measurement communicator performs intersatellite communication, intersatellite ranging and time synchronization. The signal modulation method is GMSK+PN. The GMSK signal is used for intersatellite high-speed data transmission, and the PN signal is used for intersatellite ranging and time synchronization through a two-way one-way pseudo-range measurement method.

[0020] Furthermore, the communication payload covers at least one of the X-band and the Ka-band, and uses a multi-beam antenna to achieve simultaneous communication with multiple lunar users.

[0021] Furthermore, the navigation payload includes a navigation transmitting antenna and a navigation transmitter, and the navigation signal includes a navigation message, a pseudo-random code and a carrier signal.

[0022] Furthermore, after receiving the ground timing signal, the ultra-stable time and frequency unit outputs a stable clock signal to the integrated electronic unit, and the integrated electronic unit outputs it to other equipment and payloads on the satellite to ensure the unification of the time reference on the satellite.

[0023] Furthermore, the ultra-stable time-frequency unit provides a frequency reference signal with high stability and accuracy for other equipment and payloads on the satellite.

[0024] Furthermore, the integrated electronic unit schedules the satellite's mission execution and converts on-board data into data required for user services.

[0025] Furthermore, the measurement and control unit includes a measurement and control transponder and a measurement and control antenna, which receives remote control signals from a ground measurement and control station and sends onboard telemetry data to the ground measurement and control station;

[0026] Furthermore, the remote sensing payload includes at least one of an optical remote sensing payload and a radar remote sensing payload to carry out a detailed survey of the moon.

[0027] The present invention also provides a collaborative working method of a lunar communication, navigation and remote sensing satellite formation system, comprising:

[0028] 1) The system uses ground-based orbit determination and timing combined with intersatellite link ranging and time synchronization to perform satellite-satellite-ground multi-source precise orbit determination, realize the transmission of time and space reference information within the system, and improve the system's own time and space reference accuracy and autonomous operation capability;

[0029] 2) The lunar communication, navigation and remote sensing satellite provides communication services to multiple lunar users within the beam coverage area through the moon-star link;

[0030] 3) Multiple lunar navigation and remote sensing satellites establish communication links between two lunar users at a distance through satellite-moon links and inter-satellite links to provide communication services;

[0031] 4) Lunar communication, navigation and remote sensing satellites provide high-speed relay communication services for lunar users through satellite-moon links and satellite-to-ground high-speed links;

[0032] 5) Multiple lunar communication, navigation and remote sensing satellites provide uninterrupted high-speed relay communication services for lunar users through satellite-moon links, inter-satellite links and satellite-to-ground high-speed links;

[0033] 6) Four or more lunar communication, navigation and remote sensing satellites send navigation signals to lunar users. After receiving the navigation signals, lunar users can locate and navigate themselves based on the principle of multi-sphere intersection. Lunar communication, navigation and remote sensing satellites with ultra-stable time and frequency units can also provide timing services to users.

[0034] 7) After obtaining lunar exploration data through remote sensing payloads, lunar navigation and remote sensing satellites provide remote sensing data to lunar users through satellite-moon links and inter-satellite links, or send remote sensing data to the ground through inter-satellite links and satellite-to-ground high-speed links.

[0035] Beneficial effects:

[0036] The present invention provides comprehensive communication, navigation and remote sensing services for lunar users in lunar space where the Earth navigation system signal cannot cover and the ground measurement and control system signal has limited coverage, through the setting of the lunar orbit, the configuration of communication, navigation and remote sensing functions, and the coordination of satellites in the system, including:

[0037] (1) All satellites in the formation have the ability to establish inter-satellite links. Rapid information transmission within the formation improves response speed, and ground stations can quickly measure and control satellites in the formation.

[0038] (2) Through the coordination of satellite-moon, satellite-to-ground, and inter-satellite communication functions, fast communication between lunar users and between lunar users and the ground is achieved;

[0039] (3) The satellite is equipped with an ultra-stable time and frequency unit. Through the coordination of the inter-satellite measurement function and the navigation function of multiple satellites, the transmission of time and space references within the system is realized, providing better navigation, positioning and timing services for lunar users.

[0040] (4) Providing rapid remote sensing services to lunar users through the coordination of remote sensing and communication functions of multiple satellites. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a schematic diagram of the structure and function of the lunar communication, navigation and remote satellite formation system of the present invention;

[0042] Figure 2 It is a schematic diagram of time and space reference transmission of the lunar communication, navigation and remote satellite formation system of the present invention;

[0043] Figure 3 It is a communication service schematic diagram of the lunar communication, navigation and remote sensing satellite formation system of the present invention;

[0044] Figure 4 It is a schematic diagram of the relay communication service of the lunar navigation and remote satellite formation system of the present invention;

[0045] Figure 5 It is a navigation service schematic diagram of the lunar communication and remote satellite formation system of the present invention;

[0046] Figure 6 It is a remote sensing service schematic diagram of the lunar navigation and remote sensing satellite formation system of the present invention. DETAILED DESCRIPTION

[0047] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0048] The lunar communication, navigation and remote sensing satellite formation system is deployed in the lunar orbit. Through the collaborative work between satellites within the system and the cooperation between the satellite formation system and the ground measurement and control system, it provides communication, navigation and remote sensing (communication, navigation and remote sensing) services to lunar users such as the lunar surface and lunar orbit probes.

[0049] The lunar communication, navigation and remote sensing satellite formation system includes a master satellite and a slave satellite. The master satellite includes a satellite-to-ground high-speed measurement and control unit, an intersatellite link unit, a communication payload, a navigation payload, an ultra-stable time and frequency unit, and an integrated electronic unit; the slave satellite includes a measurement and control unit, an intersatellite link unit, a communication payload, a navigation payload, a remote sensing payload, and an integrated electronic unit.

[0050] The satellite-to-ground high-speed measurement and control unit establishes a two-way satellite-to-ground high-speed link in the Ka frequency band with the ground Ka measurement and control station, which is used for the ground Ka measurement and control station to conduct two-way high-speed communication with the main satellite and to determine the orbit of the main satellite. The satellite-to-ground high-speed measurement and control unit includes a high-speed communication machine, a Ka low-gain antenna and a Ka high-gain antenna. The Ka low-gain antenna is selected for conventional measurement and control, and the Ka high-gain antenna is selected when high-speed uplink and downlink are required. The signal modulation method is the GMSK+PN system that can realize the integration of high-speed communication and ranging. The GMSK signal is used to transmit high-speed data, and the PN signal is used to regenerate pseudo-code ranging;

[0051] The intersatellite link unit is used to establish an intersatellite link between lunar navigation and remote sensing satellites to perform intersatellite communication, ranging and time synchronization; the intersatellite link unit includes a Ka phased array antenna and an intersatellite measurement and communication machine, the Ka phased array antenna quickly establishes an intersatellite bidirectional link through flexible beam scanning, the intersatellite measurement and communication machine performs intersatellite communication, intersatellite ranging and time synchronization, the signal modulation mode is GMSK+PN, the GMSK signal is used for intersatellite high-speed data transmission, and the PN signal is used for intersatellite ranging and time synchronization through a two-way one-way pseudo-range measurement method;

[0052] The communication payload establishes a two-way communication satellite-moon link with the lunar user; the communication payload covers at least one of the X-band and the Ka-band, and uses a multi-beam antenna to achieve simultaneous communication with multiple lunar users;

[0053] The navigation payload can send navigation signals to lunar users to provide navigation, positioning and timing services; the navigation payload includes a navigation transmitting antenna and a navigation transmitter, and the navigation signal includes a navigation message, a pseudo-random code and a carrier signal;

[0054] The ultra-stable time and frequency unit uses the onboard atomic clock to provide a highly stable time and frequency reference signal for the host satellite; after receiving the ground timing signal, the ultra-stable time and frequency unit outputs a stable clock signal to the integrated electronic unit, and the integrated electronic unit outputs it to other devices and payloads on the satellite to ensure the unification of the onboard time reference; the ultra-stable time and frequency unit provides a frequency reference signal with high stability and accuracy for other devices and payloads on the satellite;

[0055] The integrated electronic unit is a business management, data storage and processing unit for the lunar navigation and remote sensing satellite, which schedules the satellite's mission execution and converts on-board data into data required for user services;

[0056] The TT&C unit includes a TT&C transponder and a TT&C antenna, which receives remote control signals from the ground TT&C station and sends onboard telemetry data to the ground TT&C station.

[0057] The remote sensing payload has the function of lunar remote sensing, including at least one of optical remote sensing payload and radar remote sensing payload, to carry out detailed survey of the moon.

[0058] In order to provide communication, navigation and remote sensing services for lunar users, the collaborative working method of the lunar communication, navigation and remote sensing satellite formation system of the present invention includes:

[0059] 1) The system uses ground-based orbit determination and timing combined with intersatellite link ranging and time synchronization to perform satellite-satellite-ground multi-source precise orbit determination, realize the transmission of time and space reference information within the system, and improve the system's own time and space reference accuracy and autonomous operation capability;

[0060] 2) The lunar communication, navigation and remote sensing satellite provides communication services to multiple lunar users within the beam coverage area through the moon-star link;

[0061] 3) Multiple lunar navigation and remote sensing satellites establish communication links between two lunar users at a distance through satellite-moon links and inter-satellite links to provide communication services;

[0062] 4) Lunar communication, navigation and remote sensing satellites provide high-speed relay communication services for lunar users through satellite-moon links and satellite-to-ground high-speed links;

[0063] 5) Multiple lunar communication, navigation and remote sensing satellites provide uninterrupted high-speed relay communication services for lunar users through satellite-moon links, inter-satellite links and satellite-to-ground high-speed links;

[0064] 6) Four or more lunar communication, navigation and remote sensing satellites send navigation signals to lunar users. After receiving the navigation signals, lunar users can locate and navigate themselves based on the principle of multi-sphere intersection. Lunar communication, navigation and remote sensing satellites with ultra-stable time and frequency units can also provide timing services to users.

[0065] 7) After obtaining lunar exploration data through remote sensing payloads, lunar navigation and remote sensing satellites provide remote sensing data to lunar users through satellite-moon links and inter-satellite links, or send remote sensing data to the ground through inter-satellite links and satellite-to-ground high-speed links.

[0066] Example:

[0067] The lunar communication, navigation and remote sensing satellite formation system is composed of multiple lunar communication, navigation and remote sensing satellites, including two structures: master satellites and slave satellites. The lunar orbit, the number and type of satellites to be deployed are determined according to the service coverage requirements for lunar users. For example, the circumlunar elliptical frozen orbit (ELFO) and the circumlunar circular orbit (CLO) can be selected. ELFO determines two orbital planes, each of which is equipped with M (≥2) master satellites. CLO determines three orbital planes with the same orbital height, each of which is equipped with N (≥1) master satellites and P (≥8) slave satellites. The CLO orbital height is less than 1500km, which ensures the communication rate and remote sensing data quality with users on the lunar surface.

[0068] like Figure 1 As shown, the main satellite includes a satellite-to-ground high-speed measurement and control unit, an intersatellite link unit, a communication payload, a navigation payload, an ultra-stable time and frequency unit, and an integrated electronic unit;

[0069] The satellite-to-ground high-speed measurement and control unit establishes a satellite-to-ground high-speed link with the ground Ka measurement and control station, receives telemetry data or downlink data sent by the integrated electronic unit, converts them into Ka-band signals and sends them to the ground Ka measurement and control station, and receives remote control commands or uplink data sent by the ground Ka measurement and control station and sends them to the integrated electronic unit for processing;

[0070] The intersatellite link unit generates a PN code for ranging, and performs GMSK modulation together with the baseband communication data and satellite time sent by the integrated electronics, and then sends it to other satellites in the formation. It receives signals sent by other satellites in the formation, calculates the inter-satellite distance and time difference, decodes the communication data, and sends the calculation results and communication data to the integrated electronics unit.

[0071] The communication payload establishes a communication link with the lunar user and sends the communication data to the integrated electronic unit according to the user's communication requirements.

[0072] The navigation payload sends navigation signals to lunar users, providing navigation, positioning and timing services. The navigation signals include navigation messages, pseudo-random codes and carrier signals.

[0073] The integrated electronic unit is bidirectionally connected with the satellite-to-ground high-speed measurement and control unit, intersatellite link unit, communication payload, navigation payload, and remote sensing payload for task scheduling, data storage, and interaction.

[0074] The ultra-stable time and frequency unit provides frequency reference signals for the satellite-to-ground high-speed measurement and control unit, intersatellite link unit, communication payload, navigation payload, and remote sensing payload. The ultra-stable time and frequency unit is frequency calibrated through the satellite-to-ground high-speed measurement and control unit. The satellite-to-ground high-speed measurement and control unit receives the frequency reference signal of the ultra-stable time and frequency unit, generates a single-carrier beacon signal in the Ka band and sends it to the ground Ka measurement and control station. The ground Ka measurement and control station calculates the frequency deviation, thereby calibrating the frequency of the ultra-stable time and frequency unit.

[0075] After receiving the ground timing signal through the satellite-to-ground high-speed measurement and control unit, the ultra-stable time and frequency unit outputs a stable clock signal to the integrated electronic unit, which then outputs it to other equipment and payloads on the satellite to ensure the uniformity of the onboard time reference.

[0076] The slave satellite includes a measurement and control unit, an intersatellite link unit, a communication payload, a navigation payload, a remote sensing payload, and an integrated electronic unit. The slave satellite realizes the measurement and control function through the measurement and control unit. The measurement and control unit uses the S band or X band and adopts the USB or UXB measurement and control system to establish a measurement and control link with the ground measurement and control station.

[0077] The intersatellite link unit and communication payload functions of the slave satellite are basically the same as those of the master satellite, except that the reference frequency provided by the ultra-stable time-frequency unit is not used.

[0078] The remote sensing payload sends remote sensing data to the integrated electronics unit based on optical or microwave imaging of the moon.

[0079] like Figure 2As shown in the figure, the main satellite and the ground Ka tracking and control station establish a high-speed satellite-ground link, and the satellites in the formation establish inter-satellite links. Through inter-satellite communication, the ground Ka tracking and control station can track and control other satellites in the formation that are not in the tracking and control arc, thereby improving the response speed and collaborative work ability of the formation. The ground Ka tracking and control station determines the orbit and provides time for the main satellite. The main satellite uses the ultra-stable time and frequency unit to calibrate and keep time. The satellites in the formation perform inter-satellite ranging and time synchronization, which can be used as a supplementary observation in the process of ground orbit determination to improve the accuracy of satellite orbit determination; it can also realize the transmission of time and space benchmarks between satellites, and improve the formation's own benchmark accuracy and autonomous management capabilities.

[0080] The system's communication services include Figure 3 As shown in the figure, the satellite supports low-speed communication for multiple lunar users (≥3) within the beam range or high-speed communication for a single lunar user, and also supports high-speed communication between multiple lunar users that are far away and not within the beam range of a satellite. The communication functions of inter-satellite links and satellite-moon links work together to provide communication services with full-moon and full-time coverage.

[0081] The system's relay communication services include Figure 4 As shown, the main satellite forwards the measurement and control communication data between the lunar users and the ground Ka measurement and control station through the satellite-to-ground high-speed link and the satellite-to-moon link, or the satellite-to-ground high-speed link, the inter-satellite link and the satellite-to-moon link, providing the lunar users with reliable relay services all the time and all month long.

[0082] The system's navigation services include Figure 5 As shown, the remote sensing payloads of four or more satellites send navigation signals to lunar users. After receiving the navigation signals, the lunar users can realize their own positioning and navigation based on the multi-sphere rendezvous principle. The master satellite can provide high-precision timing services to the users, and the slave satellite can provide timing services to the users.

[0083] The system's remote sensing services include Figure 6 As shown, the remote sensing payload from the satellite performs optical or microwave imaging of the moon according to the instructions of the integrated electronic unit, stores the data in the integrated electronic unit, sends the data to the intersatellite link unit or communication payload as needed, and further sends it to lunar users or the ground. The coordination of communication and remote sensing functions realizes rapid remote sensing services.

Claims

1. A lunar navigation and remote sensing satellite formation system, characterized in that: Deployed in lunar orbit, it provides communication, navigation and remote sensing services to lunar users through the collaborative work between satellites within the system, the satellite formation system and the Ka tracking and control station on the ground; The lunar communication, navigation and remote sensing satellite formation system includes a master satellite and a slave satellite. The master satellite includes a satellite-to-ground high-speed measurement and control unit, an intersatellite link unit, a communication payload, a navigation payload, an ultra-stable time and frequency unit and an integrated electronic unit; the slave satellite includes a measurement and control unit, an intersatellite link unit, a communication payload, a navigation payload, a remote sensing payload and an integrated electronic unit. The satellite-to-ground high-speed measurement and control unit establishes a Ka-band bidirectional satellite-to-ground high-speed link with the ground Ka measurement and control station, which is used for the ground Ka measurement and control station to conduct bidirectional high-speed communication with the main satellite and to determine the orbit of the main satellite; The intersatellite link unit is used to establish intersatellite links between lunar navigation and remote sensing satellites for intersatellite communication, ranging and time synchronization; The communication payload establishes a two-way communication satellite-moon link with lunar users; The navigation payload can send navigation signals to lunar users, providing navigation, positioning and timing services; The ultra-stable time and frequency unit uses the onboard atomic clock to provide highly stable time and frequency reference signals for the host satellite; The integrated electronic unit is the business management, data storage and processing unit of the lunar navigation and remote sensing satellite; The measurement and control unit is used by the ground measurement and control station to measure and control the slave satellite; The remote sensing payload has the capability of remote sensing imaging of the moon.

2. A lunar navigation and remote sensing satellite formation system according to claim 1, characterized in that: The satellite-to-ground high-speed measurement and control unit includes a high-speed communicator, a Ka low-gain antenna and a Ka high-gain antenna. The Ka low-gain antenna is selected for conventional measurement and control, and the Ka high-gain antenna is selected when high-speed uplink and downlink are required. The signal modulation method is a GMSK+PN system that can realize the integration of high-speed communication and ranging. The GMSK signal is used to transmit high-speed data, and the PN signal is used to regenerate pseudo-code ranging.

3. The lunar navigation and remote sensing satellite formation system according to claim 1, characterized in that: The intersatellite link unit includes a Ka phased array antenna and an intersatellite measurement communicator. The Ka phased array antenna quickly establishes an intersatellite bidirectional link through flexible beam scanning. The intersatellite measurement communicator performs intersatellite communication, intersatellite ranging and time synchronization. The signal modulation mode is GMSK+PN. The GMSK signal is used for intersatellite high-speed data transmission, and the PN signal is used for intersatellite ranging and time synchronization through a bidirectional one-way pseudo-range measurement method.

4. The lunar navigation and remote sensing satellite formation system according to claim 1, characterized in that: The communication payload covers at least one of the X-band and the Ka-band, and uses a multi-beam antenna to achieve simultaneous communication with multiple lunar users.

5. The lunar navigation and remote sensing satellite formation system according to claim 1, characterized in that: The navigation payload includes a navigation transmitting antenna and a navigation transmitter, and the navigation signal includes a navigation message, a pseudo-random code and a carrier signal.

6. The lunar navigation and remote sensing satellite formation system according to claim 1, characterized in that: After receiving the ground timing signal, the ultra-stable time and frequency unit outputs a stable clock signal to the integrated electronic unit, and the integrated electronic unit outputs it to other equipment and payloads on the satellite to ensure the unification of the time reference on the satellite.

7. The lunar navigation and remote sensing satellite formation system according to claim 1, characterized in that: The ultra-stable time-frequency unit provides a frequency reference signal with high stability and accuracy for other equipment and payloads on the satellite.

8. The lunar navigation and remote sensing satellite formation system according to claim 1, characterized in that: The integrated electronic unit schedules the satellite's mission execution and converts on-board data into data required for user services.

9. The lunar navigation and remote sensing satellite formation system according to claim 1, characterized in that: The measurement and control unit includes a measurement and control transponder and a measurement and control antenna, receives remote control signals from a ground measurement and control station, and sends onboard telemetry data to the ground measurement and control station.

10. The lunar navigation and remote sensing satellite formation system according to claim 1, characterized in that: The remote sensing payload includes at least one of an optical remote sensing payload and a radar remote sensing payload to carry out a detailed survey of the moon.

11. The collaborative working method of the lunar communication, navigation and remote sensing satellite formation system according to any one of claims 1 to 10, characterized in that: include: 1) The system uses ground-based orbit determination and timing combined with intersatellite link ranging and time synchronization to perform satellite-satellite-ground multi-source precise orbit determination, realize the transmission of time and space reference information within the system, and improve the system's own time and space reference accuracy and autonomous operation capability; 2) The lunar communication, navigation and remote sensing satellite provides communication services to multiple lunar users within the beam coverage area through the moon-star link; 3) Multiple lunar navigation and remote sensing satellites establish communication links between two lunar users at a distance through satellite-moon links and inter-satellite links to provide communication services; 4) Lunar communication, navigation and remote sensing satellites provide high-speed relay communication services for lunar users through satellite-moon links and satellite-to-ground high-speed links; 5) Multiple lunar communication, navigation and remote sensing satellites provide uninterrupted high-speed relay communication services for lunar users through satellite-moon links, inter-satellite links and satellite-to-ground high-speed links; 6) Four or more lunar communication, navigation and remote sensing satellites send navigation signals to lunar users. After receiving the navigation signals, lunar users can locate and navigate themselves based on the principle of multi-sphere intersection. Lunar communication, navigation and remote sensing satellites with ultra-stable time and frequency units can also provide timing services to users. 7) After obtaining lunar exploration data through remote sensing payloads, lunar navigation and remote sensing satellites provide remote sensing data to lunar users through satellite-moon links and inter-satellite links, or send remote sensing data to the ground through inter-satellite links and satellite-to-ground high-speed links.

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