Spacecraft double-side inter-satellite laser link space capturing method and system

Abstract

The invention discloses a spacecraft double-side inter-satellite laser link space capturing method and a spacecraft double-side inter-satellite laser link space capturing system, which are used for solving the technical problem of spacecraft double-side inter-satellite laser link space capturing directional freedom degree coupling caused by the existing spacecraft double-side inter-satellite laser link space capturing method. The method comprises the following steps of: acquiring key index data of a capture task, judging whether the key index data of the capture task meets a preset first capture condition, a preset second capture condition or a preset third capture condition or not, and determining whether the key index data of the capture task meets the preset first capture condition, the preset second capture condition or the preset third capture condition; laser link capture is executed by selecting a guidance law coordinate system conversion method, a spacecraft attitude regulation and control system and movable optical component iterative adjustment pointing method or a pointing degree-of-freedom one-by-one constraint method, and a plurality of bidirectional inter-satellite laser links are generated.

Description

Technical Field

[0001] The present invention relates to the technical field of spacecraft laser capture, and in particular to a spacecraft double-sided intersatellite laser link space capture method and system. Background Art

[0002] With the development of space technology, laser links between spacecraft are becoming more and more widely used. Intersatellite laser links are currently mainly used for intersatellite communications. In addition, they can also be used for high-sensitivity ranging in the fields of constellation formation maintenance, gravity field measurement, and space gravitational wave detection.

[0003] Due to factors such as orbit prediction errors, installation and control errors of spacecraft pointing devices, and spacecraft absolute attitude measurement and control errors, spacecraft participating in the intersatellite laser link cannot accurately know the position of the opposite spacecraft, nor can they accurately know the laser pointing currently being performed. Therefore, the opposite spacecraft usually exists in the body coordinate system of the pointing mechanism with a certain probability density. The area where the opposite spacecraft may exist with a certain probability is called the uncertainty area. When the uncertainty area is larger than the effective divergence cone angle of the outgoing light beam, the spacecraft cannot directly emit the outgoing light beam to the opposite spacecraft. Therefore, before using the intersatellite laser link, space capture is usually required first.

[0004] The existing space capture method of the spacecraft bilateral intersatellite laser link usually installs the intersatellite laser optical path on each side in a movable optical component, that is, there are two movable optical components on the spacecraft. Since the movable optical component can only rotate in one dimension in the yaw direction of the spacecraft attitude, it is impossible to perform two-dimensional space scanning independently. The space scanning of the space gravitational wave detector in the pitch direction must be performed by calling the spacecraft attitude control system. When the intersatellite laser link on one side of the bilateral intersatellite laser link has completed space capture, the spacecraft attitude control system and the corresponding movable optical component are switched to tracking control mode to keep the pointing of this side continuously aligned with the opposite spacecraft. At this time, the three pointing degrees of freedom of the spacecraft attitude pitch, yaw, and roll controlled by the spacecraft attitude control system cannot be directly used for the space capture of the intersatellite laser link on the other side, resulting in the coupling of the pointing degrees of freedom of the spacecraft bilateral intersatellite laser link space capture. Summary of the invention

[0005] The present invention provides a spacecraft bilateral inter-satellite laser link space capture method and system, which are used to solve the technical problem of the existing spacecraft bilateral inter-satellite laser link space capture method resulting in the coupling of the pointing degrees of freedom of the spacecraft bilateral inter-satellite laser link space capture.

[0006] A first aspect of the present invention provides a spacecraft bilateral intersatellite laser link space capture method, which is applied to a spacecraft group, and the method comprises:

[0007] Acquire key indicator data of a capture task, and determine whether the key indicator data of the capture task satisfies a preset first capture condition, a preset second capture condition, or a preset third capture condition;

[0008] When the capture mission key indicator data meets the preset first capture condition, the spacecraft group is captured using a single-sided intersatellite laser link space capture method and a guidance law coordinate system conversion method to generate multiple bidirectional intersatellite laser links;

[0009] When the key indicator data of the capture mission meets the preset second capture condition, the spacecraft group is captured by an intersatellite laser link using a spacecraft attitude control system and a movable optical component iteratively adjusting pointing method to generate multiple bidirectional intersatellite laser links;

[0010] When the key indicator data of the capture mission meets the preset third capture condition, the one-sided intersatellite laser link space capture method and the pointing degree of freedom constraint method are used to perform intersatellite laser link capture on the spacecraft group to generate multiple bidirectional intersatellite laser links.

[0011] Optionally, the spacecraft group includes a first spacecraft, a second spacecraft and a third spacecraft; the preset guidance law includes a first guidance law; and the method of using a unilateral intersatellite laser link space capture method and a guidance law coordinate system conversion method to perform intersatellite laser link capture on multiple spacecraft to generate multiple bidirectional intersatellite laser links includes:

[0012] adjusting the orientation of the first side movable optical component of the second spacecraft based on the guidance law in the uncertainty region in the yaw-pitch coordinate system of the first side movable optical component corresponding to the second spacecraft, determining the adjusted orientation of the first side movable optical component of the second spacecraft, and generating an outgoing light beam;

[0013] Based on the adjusted direction of the movable optical component on the first side of the second spacecraft, using the outgoing light beam to perform spatial scanning on the uncertain area corresponding to the third spacecraft;

[0014] When the third spacecraft receives the outgoing light beam, the direction of the movable optical component on the second side of the third spacecraft is corrected based on the outgoing light beam, and a retroreflected light beam is generated and transmitted to the second spacecraft;

[0015] When the second spacecraft receives the return beam, the movable optical component on the first side of the second spacecraft is controlled to stop space scanning, and the adjustment direction of the movable optical component on the first side of the second spacecraft is corrected by using the return beam, so as to generate a bidirectional intersatellite laser link between the second spacecraft and the third spacecraft;

[0016] Based on the guidance law in the uncertainty region in the yaw-pitch coordinate system of the second side movable optical assembly corresponding to the second spacecraft, the movable optical assembly of the second spacecraft and the first spacecraft are adjusted in pointing order to generate a bidirectional intersatellite laser link between the second spacecraft and the first spacecraft;

[0017] Based on the guidance law in the uncertain area in the yaw-pitch coordinate system of the second side movable optical component corresponding to the first spacecraft, the pointing of the movable optical components of the first spacecraft and the third spacecraft are adjusted to generate a bidirectional intersatellite laser link between the first spacecraft and the third spacecraft.

[0018] Optionally, the step of adjusting the pointing of the movable optical components of the second spacecraft and the first spacecraft based on the guidance law in the uncertainty region in the yaw-pitch coordinate system of the second side movable optical component corresponding to the second spacecraft, and generating a bidirectional intersatellite laser link between the second spacecraft and the first spacecraft includes:

[0019] Transforming the guidance law in the uncertainty region in the yaw-pitch coordinate system of the second side movable optical component corresponding to the second spacecraft, and determining the guidance law in the uncertainty region in the roll coordinate system of the bilateral pointing angle of the second side movable optical component corresponding to the second spacecraft-around the pointing of the first side movable optical component;

[0020] Based on the guidance law in the uncertainty region in the rolling coordinate system around the pointing of the movable optical component on the first side of the second spacecraft and the bilateral pointing angle of the movable optical component on the second side of the second spacecraft, the pointing of the movable optical component on the second side of the second spacecraft is adjusted, the adjusted pointing of the movable optical component on the second side of the second spacecraft is determined, and an outgoing light beam is generated;

[0021] Based on the adjusted direction of the movable optical component on the second side of the second spacecraft, using the outgoing light beam to perform spatial scanning on the uncertain area corresponding to the first spacecraft;

[0022] When the first spacecraft receives the outgoing light beam, the outgoing light beam is used to correct the direction of the movable optical component on the first side of the first spacecraft, and a retroreflected light beam is generated and transmitted to the second spacecraft;

[0023] When the second spacecraft receives the return beam, the second side movable optical component of the second spacecraft is controlled to stop space scanning, and the return beam is used to correct the adjustment direction of the second side movable optical component of the second spacecraft, thereby generating a bidirectional intersatellite laser link between the second spacecraft and the first spacecraft.

[0024] Optionally, the step of adjusting the pointing of the movable optical components of the first spacecraft and the third spacecraft based on the guidance law in the uncertainty region in the yaw-pitch coordinate system of the second side movable optical component corresponding to the first spacecraft, and generating a bidirectional intersatellite laser link between the first spacecraft and the third spacecraft includes:

[0025] Transforming the guidance law in the uncertainty region of the yaw-pitch coordinate system of the second side movable optical component corresponding to the first spacecraft, and determining the guidance law in the uncertainty region of the rolling coordinate system of the bilateral pointing angle of the second side movable optical component corresponding to the first spacecraft-around the pointing of the first side movable optical component;

[0026] Based on the guidance law in the uncertainty region in the rolling coordinate system around the pointing of the second side movable optical component corresponding to the first spacecraft, which is the bilateral pointing angle of the second side movable optical component, the pointing of the second side movable optical component of the first spacecraft is adjusted, the adjusted pointing of the second side movable optical component of the first spacecraft is determined, and an outgoing light beam is generated;

[0027] Based on the adjusted direction of the movable optical component on the second side of the first spacecraft, using the outgoing light beam to perform spatial scanning on the uncertain area corresponding to the third spacecraft;

[0028] When the third spacecraft receives the outgoing light beam, the outgoing light beam is used to correct the direction of the movable optical component on the first side of the third spacecraft, and a retroreflected light beam is generated and transmitted to the first spacecraft;

[0029] When the first spacecraft receives the return beam, the movable optical component on the second side of the first spacecraft is controlled to stop spatial scanning, and the return beam is used to correct the adjustment direction of the movable optical component on the second side of the first spacecraft, thereby generating a bidirectional intersatellite laser link between the first spacecraft and the third spacecraft.

[0030] Optionally, the method of iteratively adjusting the pointing direction of a spacecraft attitude control system and a movable optical component is used to capture the spacecraft group through an intersatellite laser link to generate a plurality of bidirectional intersatellite laser links, including:

[0031] adjusting the orientation of the first side movable optical component of the second spacecraft based on the guidance law in the uncertainty region in the yaw-pitch coordinate system of the first side movable optical component corresponding to the second spacecraft, determining the adjusted orientation of the first side movable optical component of the second spacecraft, and generating an outgoing light beam corresponding to the first side movable optical component of the second spacecraft;

[0032] adjusting the orientation of the second side movable optical component of the second spacecraft based on the guidance law in the uncertainty region in the yaw-pitch coordinate system of the second side movable optical component corresponding to the second spacecraft, determining the adjusted orientation of the second side movable optical component of the second spacecraft, and generating an outgoing light beam corresponding to the second side movable optical component of the second spacecraft;

[0033] Based on the adjusted direction of the movable optical component on the first side of the second spacecraft, using the outgoing light beam corresponding to the movable optical component on the first side of the second spacecraft to perform spatial scanning on the uncertain area corresponding to the first spacecraft;

[0034] Based on the adjusted direction of the second side movable optical component of the second spacecraft, using the outgoing light beam corresponding to the second side movable optical component of the second spacecraft to perform spatial scanning on the uncertain area corresponding to the third spacecraft;

[0035] When the third spacecraft receives the outgoing light beam corresponding to the second side movable optical component of the second spacecraft, the outgoing light beam corresponding to the second side movable optical component of the second spacecraft is used to correct the direction of the second side movable optical component of the third spacecraft, and a return light beam corresponding to the second side movable optical component of the third spacecraft is generated and transmitted to the second spacecraft;

[0036] When the first spacecraft receives the outgoing light beam corresponding to the first side movable optical component of the second spacecraft, the outgoing light beam corresponding to the first side movable optical component of the second spacecraft is used to correct the direction of the first side movable optical component of the first spacecraft, and a return light beam corresponding to the first side movable optical component of the first spacecraft is generated and transmitted to the second spacecraft;

[0037] When the second spacecraft receives the retroreflected light beam corresponding to the second side movable optical component of the third spacecraft and the retroreflected light beam corresponding to the first side movable optical component of the first spacecraft, control the first side movable optical component and the second side movable optical component of the second spacecraft to stop spatial scanning;

[0038] Based on the return beam corresponding to the second side movable optical component of the third spacecraft and the return beam corresponding to the first side movable optical component of the first spacecraft, alternately use the spacecraft attitude control system and the first side movable optical component and the second side movable optical component of the second spacecraft to iteratively correct the attitude of the second spacecraft, the adjustment direction of the first side movable optical component and the adjustment direction of the second side movable optical component, so as to generate a bidirectional intersatellite laser link between the second spacecraft and the first spacecraft and a bidirectional intersatellite laser link between the second spacecraft and the third spacecraft;

[0039] Based on the guidance law in the uncertainty region of the yaw-pitch coordinate system of the second side movable optical component corresponding to the first spacecraft, the orientation of the second side movable optical component of the first spacecraft is adjusted, the adjustment orientation of the second side movable optical component of the first spacecraft is determined, and an outgoing light beam corresponding to the second side movable optical component of the first spacecraft is generated;

[0040] Based on the adjusted direction of the movable optical component on the second side of the first spacecraft, using the outgoing light beam corresponding to the movable optical component on the second side of the first spacecraft to perform spatial scanning on the uncertain area corresponding to the third spacecraft;

[0041] When the third spacecraft receives the outgoing light beam corresponding to the second side movable optical component of the first spacecraft, the spacecraft attitude control system and the first side movable optical component and the second side movable optical component of the third spacecraft are alternately used to iteratively correct the attitude of the third spacecraft, the adjustment direction of the first side movable optical component, and the adjustment direction of the second side movable optical component, and a return light beam corresponding to the first side movable optical component and the second side movable optical component of the third spacecraft are generated and emitted to the first spacecraft;

[0042] When the first spacecraft receives the return light beam corresponding to the first side movable optical component and the return light beam corresponding to the second side movable optical component of the third spacecraft, controlling the second side movable optical component of the first spacecraft to stop space scanning;

[0043] Based on the reflected light beam corresponding to the first side movable optical component and the reflected light beam corresponding to the second side movable optical component of the third spacecraft, the spacecraft attitude control system and the first side movable optical component and the second side movable optical component of the first spacecraft are alternately used to iteratively correct the attitude of the first spacecraft, the direction of the first side movable optical component, and the adjusted direction of the second side movable optical component, and generate a bidirectional intersatellite laser link between the first spacecraft and the third spacecraft.

[0044] Optionally, the step of using the unilateral intersatellite laser link space capture method and the pointing degree of freedom constraint method to perform intersatellite laser link capture on the spacecraft group to generate multiple bidirectional intersatellite laser links includes:

[0045] adjusting the orientation of the first side movable optical component of the second spacecraft based on the guidance law in the uncertainty region in the yaw-pitch coordinate system of the first side movable optical component corresponding to the second spacecraft, determining the adjusted orientation of the first side movable optical component of the second spacecraft, and generating an outgoing light beam;

[0046] Based on the adjusted direction of the movable optical component on the first side of the second spacecraft, using the outgoing light beam to perform spatial scanning on the uncertain area corresponding to the third spacecraft;

[0047] When the third spacecraft receives the outgoing light beam, the direction of the movable optical component on the second side of the third spacecraft is corrected based on the outgoing light beam, and a retroreflected light beam is generated and transmitted to the second spacecraft;

[0048] When the second spacecraft receives the return beam, the movable optical component on the first side of the second spacecraft is controlled to stop space scanning, and the adjustment direction of the movable optical component on the first side of the second spacecraft is corrected by using the return beam, so as to generate a bidirectional intersatellite laser link between the second spacecraft and the third spacecraft;

[0049] determining a pointing error of a second side movable optical assembly of the second spacecraft based on a corrected actual direction of an outgoing light beam emitted by the first side movable optical assembly of the second spacecraft;

[0050] Determine, according to the pointing error of the second side movable optical component of the second spacecraft, the guidance law of the second side movable optical component bilateral pointing angle corresponding to the second spacecraft in the uncertain region in the rolling coordinate system around the pointing of the first side movable optical component;

[0051] Based on the guidance law in the uncertainty region in the rolling coordinate system around the pointing of the movable optical component on the first side of the second spacecraft and the bilateral pointing angle of the movable optical component on the second side of the second spacecraft, the pointing of the movable optical component on the second side of the second spacecraft is adjusted, the adjusted pointing of the movable optical component on the second side of the second spacecraft is determined, and an outgoing light beam is generated;

[0052] Based on the adjusted direction of the movable optical component on the second side of the second spacecraft, using the outgoing light beam to perform spatial scanning on the uncertain area corresponding to the first spacecraft;

[0053] When the first spacecraft receives the outgoing light beam, the pointing direction of the movable optical component on the first side of the first spacecraft is corrected based on the outgoing light beam, and a retroreflected light beam is generated and transmitted to the second spacecraft;

[0054] When the second spacecraft receives the return beam, the second side movable optical component of the second spacecraft is controlled to stop space scanning, and the adjustment direction of the second side movable optical component of the second spacecraft is corrected by using the return beam, so as to generate a bidirectional intersatellite laser link between the second spacecraft and the first spacecraft;

[0055] determining a pointing error of a second side movable optical assembly of the first spacecraft based on a corrected actual direction of an outgoing light beam emitted by the first side movable optical assembly of the first spacecraft;

[0056] Determine, according to the pointing error of the movable optical component on the second side of the first spacecraft, the guidance law of the bilateral pointing angle of the movable optical component on the second side corresponding to the first spacecraft in the uncertain region in the rolling coordinate system around the pointing of the movable optical component on the first side;

[0057] Based on the guidance law in the uncertainty region in the rolling coordinate system around the pointing of the second side movable optical component corresponding to the first spacecraft, which is the bilateral pointing angle of the second side movable optical component, the pointing of the second side movable optical component of the first spacecraft is adjusted, the adjustment pointing of the second side movable optical component of the first spacecraft is determined, and an outgoing light beam is generated;

[0058] Based on the adjusted direction of the movable optical component on the second side of the first spacecraft, using the outgoing light beam to perform spatial scanning on the uncertain area corresponding to the third spacecraft;

[0059] When the third spacecraft receives the outgoing light beam, the third spacecraft corrects the direction of the movable optical component on the first side of the third spacecraft based on the outgoing light beam, and generates a retroreflected light beam to be transmitted to the first spacecraft;

[0060] When the first spacecraft receives the return beam, the movable optical component on the second side of the first spacecraft is controlled to stop spatial scanning, and the return beam is used to correct the adjustment direction of the movable optical component on the second side of the first spacecraft, thereby generating a bidirectional intersatellite laser link between the first spacecraft and the third spacecraft.

[0061] A second aspect of the present invention provides a spacecraft bilateral intersatellite laser link space capture system, which is applied to a spacecraft group, and the system comprises:

[0062] An acquisition module, used for acquiring key indicator data of a capture task, and determining whether the key indicator data of the capture task satisfies a preset first capture condition, a preset second capture condition, or a preset third capture condition;

[0063] A first capture module is used to, when the key indicator data of the capture mission meets the preset first capture condition, perform intersatellite laser link capture on the spacecraft group by using a unilateral intersatellite laser link space capture method and a guidance law coordinate system conversion method to generate multiple bidirectional intersatellite laser links;

[0064] A second capture module is used to capture the spacecraft group through an intersatellite laser link by using a spacecraft attitude control system and a movable optical component iterative pointing adjustment method when the capture mission key indicator data meets the preset second capture condition, so as to generate multiple bidirectional intersatellite laser links;

[0065] The third capture module is used to perform intersatellite laser link capture on the spacecraft group by using the unilateral intersatellite laser link space capture method and the pointing degree of freedom constraint method one by one when the key indicator data of the capture mission meets the preset third capture condition, so as to generate multiple bidirectional intersatellite laser links.

[0066] A third aspect of the present invention provides a computer device, comprising a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the space capture method of the spacecraft bilateral inter-satellite laser link as described in any one of the above items.

[0067] A fourth aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed, implements the steps of the space capture method for a spacecraft bilateral inter-satellite laser link as described in any one of the above items.

[0068] A fifth aspect of the present invention provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium, and the computer program includes program instructions, wherein when the program instructions are executed by a computer, the computer executes the steps of the space capture method for a spacecraft bilateral inter-satellite laser link as described in any one of the above items.

[0069] It can be seen from the above technical solutions that the present invention has the following advantages:

[0070] The above technical scheme of the present invention provides a spacecraft bilateral intersatellite laser link space capture method, which is applied to a spacecraft group. First, key indicator data of the capture mission is obtained, and it is judged whether the key indicator data of the capture mission meets the preset first capture condition, the preset second capture condition or the preset third capture condition; then, when the key indicator data of the capture mission meets the preset first capture condition, the single-sided intersatellite laser link space capture method and the guidance law coordinate system conversion method are used to perform intersatellite laser link capture on the spacecraft group to generate multiple bidirectional intersatellite laser links; when the key indicator data of the capture mission meets the preset second capture condition, the spacecraft attitude control system and the movable optical component iterative pointing adjustment method are used to perform intersatellite laser link capture on the spacecraft group to generate multiple bidirectional intersatellite laser links; finally, when the key indicator data of the capture mission meets the preset third capture condition, the guidance law coordinate system conversion method is used. A single-sided intersatellite laser link space capture method and a method for constraining the pointing degrees of freedom one by one are used to capture the intersatellite laser link of a spacecraft group to generate multiple bidirectional intersatellite laser links; based on the above scheme, it is judged whether the acquired key indicator data of the capture task meets the preset first capture condition, the preset second capture condition or the preset third capture condition, and then according to the satisfied corresponding capture conditions, a corresponding method is used to execute laser link capture to generate multiple bidirectional intersatellite laser links. Based on specific capture conditions, the present invention selects a single-sided intersatellite laser link space capture method, a guidance law coordinate system conversion method, a spacecraft attitude control system and a movable optical component iteratively adjusting the pointing method, and a method for constraining the pointing degrees of freedom one by one, which can realize the decoupling of the pointing degrees of freedom in the space capture of the spacecraft bilateral intersatellite laser link, thereby achieving the purpose of realizing the space capture of the spacecraft bilateral intersatellite laser link. BRIEF DESCRIPTION OF THE DRAWINGS

[0071] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0072] Figure 1 A flowchart of the steps of a spacecraft bilateral intersatellite laser link space capture method provided in Embodiment 1 of the present invention;

[0073] Figure 2 A schematic diagram of an inter-satellite laser link in a typical triangular constellation provided in Embodiment 1 of the present invention;

[0074] Figure 3 A flowchart of the steps of performing intersatellite laser link space capture using a single-sided intersatellite laser link space capture method and a guidance law coordinate system conversion method provided in the second embodiment of the present invention;

[0075] Figure 4 A schematic diagram of the concepts on a single spacecraft involved in the method for converting the guidance law coordinate system provided in the second embodiment of the present invention;

[0076] Figure 5 A flow chart of bidirectional intersatellite laser link space capture for performing second-side intersatellite laser link space capture using a guidance law coordinate system conversion method provided in the second embodiment of the present invention;

[0077] Figure 6 A flowchart of the steps of using a spacecraft attitude control system and a movable optical component iteratively adjusting pointing method to perform space capture of an intersatellite laser link provided in Embodiment 3 of the present invention;

[0078] Figure 7 A schematic diagram of the concepts on a single spacecraft involved in the spacecraft attitude control system and the method for iteratively adjusting the pointing direction of a movable optical component provided in the third embodiment of the present invention;

[0079] Figure 8 A flow chart of bilateral bidirectional intersatellite laser link space capture for bilateral intersatellite laser link space capture using a spacecraft attitude control system and a movable optical component iteratively adjusting the pointing method provided in Embodiment 3 of the present invention;

[0080] Fig. 9 A flowchart of the steps of performing intersatellite laser link capture using a one-sided intersatellite laser link space capture method and a pointing degree of freedom constraint method provided in Embodiment 4 of the present invention;

[0081] Fig.10 A schematic diagram of the concept on a single spacecraft involved in the method for constraining the pointing degrees of freedom one by one provided in the fourth embodiment of the present invention;

[0082] Fig.11 A flow chart of bidirectional intersatellite laser link space capture for performing space capture of a second-side intersatellite laser link using a method of constraining the pointing degrees of freedom one by one provided in Embodiment 4 of the present invention;

[0083] Fig.12 A structural block diagram of a spacecraft dual-side intersatellite laser link space capture system provided in Embodiment 5 of the present invention;

[0084] Among them, the figure numbers are explained as follows: 2-1, spacecraft No. 1 (the first spacecraft); 2-2, spacecraft No. 2 (the second spacecraft); 2-3, spacecraft No. 3 (the third spacecraft); 2-4, movable optical component on the first side of spacecraft No. 1; 2-5, movable optical component on the second side of spacecraft No. 1; 2-6, movable optical component on the first side of spacecraft No. 2; 2-7, movable optical component on the second side of spacecraft No. 2; 2-8, movable optical component on the first side of spacecraft No. 3; 2-9, movable optical component on the second side of spacecraft No. 3; 2-10, intersatellite laser link L1; 2-11, intersatellite laser link L1'; 2-12, intersatellite laser link L2; 2-13, intersatellite laser link L2'; 2-14, intersatellite laser link L3; 2-15, intersatellite laser link L3'; 1. Movable optical component on the first side; 2. Movable optical component on the second side; 3. Direction of movable optical component on the first side; 4. Direction of movable optical component on the second side; 5. Yaw direction of movable optical component on the first side; 6. Pitch direction of movable optical component on the first side; 7. Yaw direction of movable optical component on the second side; 8. Pitch direction of movable optical component on the second side; 9. Roll direction around the direction of movable optical component on the first side; 10. Direction of angle between two sides; 11. Uncertain area in yaw-pitch coordinate system of movable optical component on the first side; 12. Uncertain area in yaw-pitch coordinate system of movable optical component on the second side; 13. Uncertain area in roll coordinate system around the direction of movable optical component on the first side of the two sides; 14. Spacecraft. DETAILED DESCRIPTION

[0085] The embodiment of the present invention provides a method and system for space capture of spacecraft bilateral inter-satellite laser links, which are used to solve the technical problem of coupling of pointing degrees of freedom in space capture of spacecraft bilateral inter-satellite laser links caused by existing space capture methods of spacecraft bilateral inter-satellite laser links.

[0086] In order to make the purpose, features and advantages of the present invention more obvious and easy to understand, the technical solutions 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 embodiments described below are only 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.

[0087] See also Figure 1 , Figure 1 A flowchart of the steps of a spacecraft bilateral intersatellite laser link space capture method provided in Example 1 of the present invention.

[0088] The present invention provides a spacecraft bilateral intersatellite laser link space capture method, which is applied to a spacecraft group, and comprises:

[0089] Step 101: Acquire key indicator data of a capture task, and determine whether the key indicator data of the capture task satisfies a preset first capture condition, a preset second capture condition, or a preset third capture condition.

[0090] The key indicator data of the capture mission include the installation matrix error of the movable optical component, the time required to perform the capture mission, the propellant consumption, and the time required to perform the capture mission using the guidance law coordinate system conversion method.

[0091] Please note that Figure 2 The spacecraft group includes three spacecraft (i.e., a first spacecraft, a second spacecraft, and a third spacecraft), each of which is provided with two movable optical components, and two intersatellite laser links (bidirectional intersatellite laser links) are formed between the two spacecraft through the movable optical components.

[0092] Step 102: When the key indicator data of the capture mission meets the preset first capture condition, the intersatellite laser link capture of the spacecraft group is performed using a unilateral intersatellite laser link space capture method and a guidance law coordinate system conversion method to generate multiple bidirectional intersatellite laser links.

[0093] It should be noted that the preset first capture condition is that when the installation matrix error of the movable optical component is less than 1% of the uncertainty area, and the time required to execute the capture mission is less than or equal to the capture window time on the orbit, and the propellant consumption is less than or equal to the propellant consumption pre-allocated for the capture mission, it indicates that the key indicator data of the capture mission meets the preset first capture condition, and the single-sided intersatellite laser link space capture method and the guidance law coordinate system conversion method are preferentially used.

[0094] Furthermore, the guidance law coordinate system conversion method refers to that after the capture of the first-side intersatellite laser link is completed, the space scanning guidance law formulated in the two-dimensional yaw-pitch coordinate system of the second-side movable optical component body coordinate system is converted to the "bilateral pointing angle-roll around the first-side movable optical component pointing" coordinate system, and the second-side movable optical component executes the pointing adjustment component in the direction of the bilateral pointing angle, and the spacecraft attitude control system executes the pointing adjustment component in the direction of the roll around the first-side movable optical component, thereby realizing the execution of the same space scanning guidance law as the first-side intersatellite laser link in the second-side movable optical component body coordinate system to complete the space capture.

[0095] This method can be regarded as a basic decoupling method for bilateral intersatellite laser link space capture. The advantage of this method is that it can make the second-side intersatellite laser link space capture task equivalent to the single-side intersatellite laser link space capture task, thereby allowing all intersatellite laser link space capture tasks in the constellation to repeatedly use the same single-side intersatellite laser link capture task process and guidance law, reducing the difficulty of designing the constellation intersatellite laser link capture scheme. One defect of this method is that the execution accuracy of the guidance law is low, especially when there is an unknown error in the installation matrix of the movable optical component in the spacecraft body coordinate system, the conversion matrix of the guidance law from the two-dimensional yaw-pitch coordinate system of the second-side movable optical component body coordinate system to the bilateral pointing angle-roll coordinate system around the first-side movable optical component pointing will have an unknown error; and, since the first-side movable optical component pointing also has an unknown error in the spacecraft body coordinate system, the spacecraft attitude control system cannot accurately make the spacecraft attitude roll around the first-side movable optical component pointing. The above unknown errors will reduce the accuracy of the second-side intersatellite laser link space scanning execution guidance law, increasing the risk of missing the space scan. Another drawback of this method is that it has a high time consumption cost and propellant consumption cost, because in this method, the guidance law of the single-side intersatellite laser link space scanning used by the second-side intersatellite laser link space scanning is optimized for the single-side intersatellite laser link space capture task, and is generally not optimal for the second-side intersatellite laser link space capture task. In particular, the first-side intersatellite laser link that has completed space capture can provide additional pointing correction information for the second-side intersatellite laser link space capture task. Under this condition, applying the guidance law of the single-side intersatellite laser link space scanning to the second-side intersatellite laser link space capture task will result in scanning some scanning points that can be excluded and do not need to be scanned. Another drawback of this method is that there is a risk of controller conflict. Different controllers of the movable optical component and the spacecraft attitude are prone to coupling and even conflict, especially when the controllers of the movable optical component and the spacecraft attitude each have closed-loop feedback control of the pointing. Based on the above advantages and disadvantages, the guidance law coordinate system transformation method is suitable for tasks where the movable optical components are installed accurately enough or the installation matrix of the movable optical components can be accurately measured on-orbit, is insensitive to the time consumption cost and propellant consumption cost of the space scanning process, and can design appropriate multi-controller collaborative pointing control schemes.

[0096] Step 103: When the key indicator data of the capture mission meets the preset second capture condition, the spacecraft attitude control system and the movable optical component iteratively adjust the pointing method to capture the spacecraft group through the intersatellite laser link to generate multiple bidirectional intersatellite laser links.

[0097] It should be noted that the preset second capture condition is that when the installation matrix error of the movable optical component is greater than or equal to 1% of the uncertainty area, it indicates that the key indicator data of the mission meets the preset second capture condition, and the spacecraft attitude control system and the movable optical component iterative adjustment pointing method are preferentially used.

[0098] Furthermore, the method for iteratively adjusting the pointing of the spacecraft attitude control system and the movable optical component refers to designing an appropriate constellation intersatellite laser link capture process so that all spacecraft do not need to complete the space capture of the intersatellite laser link on one side before performing the space capture of the intersatellite laser link on the other side, but first complete the bilateral space scan and then measure the incident angles of the bilateral return light beams, to ensure that each spacecraft can simultaneously obtain continuous irradiation of the return light beams on both sides when performing the spacecraft attitude and pointing correction of the movable optical component. On this basis, the spacecraft attitude control system and the movable optical component are used alternately to iteratively adjust the spacecraft attitude and the bilateral pointing angle until the bilateral pointing is adjusted to the correct value within the tolerance range at the same time.

[0099] One advantage of this method is that it has high reliability. The spacecraft attitude control system and the movable optical component control the pointing alternately, and there is no need for the two controllers to coordinate the pointing, which avoids the complex controller design and the risk of controller coupling and conflict. Another advantage of this method is that the accuracy requirement for the installation matrix of the movable optical component in the spacecraft body coordinate system is low. In theory, even if there is a large unknown error in the installation matrix of the movable optical component in the spacecraft body coordinate system so that the movable optical component cannot coordinate the pointing with the spacecraft attitude control system, as long as the spacecraft attitude control system and the movable optical component adjust the pointing of both sides in the direction that minimizes the pointing error on both sides each time, the spacecraft attitude and the bilateral pointing angle can always converge to their unique correct value as the number of iterations increases. The disadvantage of this method is that the constellation capture process is complicated and the capture scheme design is difficult. It may be difficult to design an appropriate capture process in a constellation with a complex intersatellite laser link structure. Based on the above advantages and disadvantages, the method of iteratively adjusting the pointing of the spacecraft attitude control system and the movable optical component is suitable for tasks with high reliability requirements, low precision of the movable optical component installation matrix, and simple constellation intersatellite laser link structure.

[0100] Spacecraft that use the method of iteratively adjusting the pointing direction of the spacecraft attitude control system and the movable optical component are usually not suitable for coordinated pointing control. Therefore, it is preferred to use guidance laws such as line scanning and rectangular scanning that adjust the pointing direction in only one direction at a time, rather than guidance laws such as equidistant spiral scanning and hexagonal scanning that are generally recognized as optimal. The process of spatially scanning the uncertainty area on both sides can be sequential or simultaneous. When performing bilateral uncertain area space scanning in sequence, it is particularly emphasized that when the capture sensor on one side receives the reflected light beam emitted by the receiving spacecraft, no pointing correction is performed and the tracking control mode is not entered, but the space scanning on the other side is performed instead until the capture sensors on both sides receive the reflected light beams at the same time; when performing bilateral uncertain area space scanning at the same time, it is particularly emphasized that the guidance laws on both sides need to be synchronized in their respective pitch directions, and the spacecraft attitude is controlled by the spacecraft attitude control system to perform the pitch adjustment of bilateral pointing at the same time. Since the pitch axis of the spacecraft attitude cannot be simultaneously aligned with the pitch axis of the first side movable optical component and the second side movable optical component when adjusting the pitch of bilateral pointing at the same time, parasitic pointing adjustment in the yaw direction of bilateral pointing will be caused when performing the pitch adjustment of bilateral pointing. Therefore, a guidance law that is insensitive to parasitic pointing adjustment in the yaw direction, such as line scanning, is preferred.

[0101] Step 104: When the key indicator data of the capture mission meets the preset third capture condition, the intersatellite laser link capture is performed on the spacecraft group using a unilateral intersatellite laser link space capture method and a pointing degree of freedom constraint method to generate multiple bidirectional intersatellite laser links.

[0102] It should be noted that the preset third capture condition is that when the time required to perform the capture mission using the guidance law coordinate system conversion method is greater than the capture window time on the orbit, or the propellant consumption is greater than the propellant consumption pre-allocated for the capture mission, it indicates that the key indicator data of the capture mission meets the preset third capture condition, and the unilateral intersatellite laser link space capture method and the pointing degree of freedom constraint method are preferably used.

[0103] Furthermore, the method of constraining the pointing degrees of freedom one by one refers to formulating the space scanning guidance law of the second-side intersatellite laser link based on the principle of traversing the parameter space of the pointing degrees of freedom, rather than formulating the space scanning guidance law in the two-dimensional yaw-pitch coordinate system of the coordinate system of the movable optical component body on the second side according to the usual method. The process of space capture is the process of finding a correct pointing execution value combination. Under a certain capture success rate requirement, the possible correct execution values ​​of all pointing degrees of freedom form a limited parameter space, and one or more pointing execution value combinations in the parameter space are correct. When the first intersatellite laser link in the dual-sided intersatellite laser link has completed space capture, the execution values ​​of the pitch and yaw directions of the spacecraft attitude (based on the pointing of the movable optical component on the first side) and the one-dimensional pointing execution value of the movable optical component on the first side in the yaw direction of the spacecraft attitude have been fully constrained. These three pointing execution values ​​are part of a correct pointing execution value combination. At this time, the second intersatellite laser link only needs to traverse the remaining parameter space of the remaining two under-constrained pointing degrees of freedom (the one-dimensional pointing execution value of the movable optical component on the second side in the yaw direction of the spacecraft attitude and the pointing roll around the movable optical component on the first side) to complete the space scan, without the need to execute the same guidance law as the first intersatellite laser link.

[0104] This method particularly emphasizes that the remaining parameter space of the remaining two under-constrained pointing degrees of freedom is generally smaller than the parameter space that can be reached by the same guidance law as the first-side intersatellite laser link. When formulating the guidance law in the remaining parameter space (i.e., the one-dimensional pointing execution value of the second-side movable optical component in the spacecraft attitude yaw direction - around the first-side movable optical component pointing in the roll coordinate system), this method can select the guidance law that relies on the coordinated pointing control of the two, or the guidance law that alternately controls the pointing of the two, according to the actual situation of the spacecraft attitude control system and the second-side movable optical component controller. One advantage of this method is that it has the lowest time consumption cost and propellant consumption cost, because it avoids space scanning of invalid areas, minimizing the number of scanning points used in the space scanning process. Another advantage of this method is that it is insensitive to the accuracy of data such as the installation matrix of the movable optical component, because there is no need to use data such as the installation matrix to transform the coordinate system of the guidance law. The disadvantage of this method is that it increases the difficulty of constellation capture scheme design, requires the design of two different guidance laws in the space capture mission of the bilateral intersatellite laser link, and requires the subdivision and precise estimation of the components of the pointing error. Based on the above advantages and disadvantages, the method of constraining the degrees of freedom one by one is suitable for tasks that are sensitive to the time consumption cost and propellant consumption cost of the capture process.

[0105] As a comparison of technical effects, it can be combined with existing technologies for reference. The typical implementation method of space capture is that the transmitting spacecraft drives the pointing mechanism of the spacecraft to adjust the pointing direction, so that the outgoing light beam moves along a preset trajectory in the two-dimensional yaw-pitch coordinate system of the pointing mechanism body coordinate system, so as to perform space scanning on the uncertain area where the receiving spacecraft is located until the uncertain area is covered. The preset trajectory of the space scan is called the guidance law, which is usually actively formulated by the capture scheme designer in the two-dimensional yaw-pitch coordinate system of the pointing mechanism body coordinate system based on the range of the uncertain area and other factors. While the transmitting end performs space scanning, the receiving spacecraft uses a capture sensor to receive the laser beam from the transmitting spacecraft. The capture sensor of the receiving spacecraft will be temporarily irradiated by the laser beam at a certain moment during the space scanning process of the transmitting spacecraft. The capture sensor of the receiving spacecraft then measures the incident angle of the incident light beam, accurately corrects the pointing direction of its own pointing mechanism based on the measurement results, and then accurately transmits the reflected light beam to the transmitting spacecraft. The capture sensor of the transmitting spacecraft measures the incident angle of the reflected light beam, and based on the measurement results, accurately corrects the direction of its own pointing mechanism, accurately transmits the outgoing light beam to the receiving spacecraft, thereby establishing a two-way intersatellite laser link. When the two-way intersatellite laser link has been established, the pointing mechanisms of the transmitting and receiving spacecraft can each continue to track the incident angle of the incident light beam it receives, thereby maintaining the laser link.

[0106] The spacecraft attitude control system is the most basic pointing mechanism, which adjusts the direction of the intersatellite laser optical path fixed to the spacecraft platform by controlling the spacecraft attitude. The spacecraft attitude control system provides three pointing degrees of freedom for the spacecraft attitude pitch, yaw, and roll, which are sufficient to complete the space capture of an opposite spacecraft. However, in a constellation formation, the spacecraft may need to perform space capture on more than one opposite spacecraft, and the angle between the orientations of the opposite spacecraft on both sides (or more sides) is usually not fixed. In this case, additional pointing degrees of freedom are required. For spacecraft that need to perform bilateral intersatellite laser link space capture, in order to enable the pointing of both sides to perform two-dimensional space scanning, at least one degree of freedom for adjusting the bilateral pointing angle needs to be added to the above three degrees of freedom. Therefore, four pointing degrees of freedom are the minimum pointing degrees of freedom required to complete bilateral space capture.

[0107] Existing intersatellite laser link technologies or products usually increase the pointing freedom by installing a two-dimensional dedicated rapid pointing mechanism for each side of the intersatellite laser link, ensuring that each side of the intersatellite laser link can complete two-dimensional space scanning without calling the spacecraft attitude control system. This design avoids the problem of pointing freedom coupling in the space capture of bilateral intersatellite laser links by excessively increasing the pointing freedom. The dedicated rapid pointing mechanism is usually composed of a universal joint, a periscope optical system, a rapid deflection mirror, etc. In addition to increasing the pointing freedom, the installation of a dedicated rapid pointing mechanism can also significantly reduce the difficulty, time consumption and propellant consumption of the space capture mission, but at the same time it will increase the manufacturing and adjustment costs of the spacecraft, technical difficulties, risk points and optical path noise in the intersatellite laser link.

[0108] The space gravitational wave detection mission is a typical space mission that uses constellation formation and intersatellite laser link technology. Three spacecraft are usually used to form a triangular constellation to perform high-sensitivity intersatellite laser interferometer ranging to detect gravitational wave signals. For high-sensitivity space gravitational wave detectors represented by China's Tianqin Project, Taiji Project, and Europe's Laser Interferometer Space Antenna (LISA) Project, the dedicated fast pointing mechanism will cause the optical path to tilt in the intersatellite laser interferometer ranging optical path, thereby causing a change in the optical path length to be measured in the optical path, which is called the tilt-length coupling effect. The tilt-length coupling effect will seriously interfere with the scientific measurement mission of the space gravitational wave detector. Therefore, the space gravitational wave detector cannot increase the pointing degree of freedom by installing a general dedicated fast pointing mechanism. For the above-mentioned space gravitational wave detector, the source of the pointing degree of freedom other than the spacecraft attitude control system is a high-stability movable optical component that can only rotate in one dimension in the spacecraft attitude yaw direction. The movable optical component contains the entire scientific measurement optical path and rotates together, thereby avoiding the tilt of the optical path and thus avoiding the tilt-length coupling effect. The movable optical assembly includes the entire scientific measurement optical path and rotates together with it, which also means that the line of sight of the capture sensor and the emission direction of the outgoing light beam are corrected synchronously, that is, when the incident angle of the incident light beam on the capture sensor is corrected, the emission direction error of the outgoing light beam is corrected at the same time. For spacecraft with bilateral intersatellite laser links, the intersatellite laser optical path on each side is usually installed in a movable optical assembly, that is, there are two movable optical assemblies on the spacecraft. Since the movable optical assembly can only rotate in one dimension in the yaw direction of the spacecraft attitude and cannot perform two-dimensional space scanning independently, the space scanning of the space gravitational wave detector in the pitch direction must be performed by calling the spacecraft attitude control system. When one of the intersatellite laser links on the dual-sided intersatellite laser link has completed space capture, the spacecraft attitude control system and the corresponding movable optical components switch to tracking control mode to keep the pointing of this side continuously aligned with the opposite spacecraft. At this time, the three pointing degrees of freedom of the spacecraft attitude pitch, yaw, and roll controlled by the spacecraft attitude control system cannot be directly used for the space capture of the intersatellite laser link on the other side, thus resulting in the problem of coupling of the pointing degrees of freedom of the space capture of the dual-sided intersatellite laser links on the spacecraft.

[0109] In view of the above problems, the present invention proposes a method for space capture of spacecraft bilateral intersatellite laser links, which can overcome the problem of coupling of pointing degrees of freedom in space capture of spacecraft bilateral intersatellite laser links, thereby realizing a feasible method for space capture of bilateral intersatellite laser links. Specifically, based on the specific capture target and capture conditions, one or more of the three methods of guidance law coordinate system conversion method, spacecraft attitude control system and movable optical component iterative pointing adjustment method, and pointing degree of freedom one by one constraint method are selected, so as to realize decoupling of pointing degrees of freedom in space capture of spacecraft bilateral intersatellite laser links, thereby achieving the purpose of space capture of spacecraft bilateral intersatellite laser links.

[0110] In an embodiment of the present invention, a spacecraft bilateral intersatellite laser link space capture method is provided, which is applied to a spacecraft group. First, key indicator data of the capture mission is obtained, and it is determined whether the key indicator data of the capture mission meets the preset first capture condition, the preset second capture condition or the preset third capture condition; then, when the key indicator data of the capture mission meets the preset first capture condition, a single-sided intersatellite laser link space capture method and a guidance law coordinate system conversion method are used to perform laser link capture on the spacecraft group to generate multiple bidirectional intersatellite laser links; when the key indicator data of the capture mission meets the preset second capture condition, a spacecraft attitude control system and a movable optical component iterative pointing adjustment method are used to perform laser link capture on the spacecraft group to generate multiple bidirectional intersatellite laser links; finally, when the key indicator data of the capture mission meets the preset third capture condition, a guidance law coordinate system conversion method is used to convert the guidance law coordinate system into a single-sided intersatellite laser link space capture method and a guidance law coordinate system conversion ... A single-sided intersatellite laser link space capture method and a method for constraining pointing degrees of freedom one by one are used to perform laser link capture on a spacecraft group to generate multiple bidirectional intersatellite laser links; based on the above scheme, it is judged whether the acquired key indicator data of the capture task meets the preset first capture condition, the preset second capture condition or the preset third capture condition, and then according to the satisfied corresponding capture conditions, a corresponding method is used to execute laser link capture to generate multiple bidirectional intersatellite laser links. Based on specific capture conditions, the present invention selects a single-sided intersatellite laser link space capture method, a guidance law coordinate system conversion method, a spacecraft attitude control system and a movable optical component iteratively adjusting the pointing method, and a method for constraining pointing degrees of freedom one by one, which can realize the decoupling of pointing degrees of freedom in the space capture of the spacecraft bilateral intersatellite laser link, thereby achieving the purpose of realizing the space capture of the spacecraft bilateral intersatellite laser link.

[0111] See also Figure 3 , Figure 3 A flowchart of the steps of performing intersatellite laser link space capture using a single-sided intersatellite laser link space capture method and a guidance law coordinate system conversion method for the second embodiment of the present invention. The process may include the following steps:

[0112] Step 301: Based on the guidance law in the uncertainty area in the yaw-pitch coordinate system of the first side movable optical component corresponding to the second spacecraft, adjust the direction of the first side movable optical component of the second spacecraft, determine the adjusted direction of the first side movable optical component of the second spacecraft, and generate an outgoing light beam.

[0113] Step 302: Based on the adjusted direction of the movable optical component on the first side of the second spacecraft, use the outgoing light beam to perform spatial scanning on the uncertain area corresponding to the third spacecraft.

[0114] Step 303: When the third spacecraft receives the outgoing light beam, the direction of the movable optical component on the second side of the third spacecraft is corrected based on the outgoing light beam, and a return light beam is generated and transmitted to the second spacecraft.

[0115] Step 304: When the second spacecraft receives the reflected light beam, the movable optical component on the first side of the second spacecraft is controlled to stop space scanning, and the reflected light beam is used to correct the adjustment direction of the movable optical component on the first side of the second spacecraft, so as to generate a bidirectional intersatellite laser link between the second spacecraft and the third spacecraft.

[0116] Please note that Figure 4, for a general one-sided intersatellite laser link space capture method (one-sided intersatellite laser link space capture method), a space capture of a bidirectional intersatellite laser link composed of the intersatellite laser link L1 (2-10) and the intersatellite laser link L1' (2-11) (i.e., a bidirectional intersatellite laser link between the second spacecraft and the third spacecraft) is performed. Spacecraft No. 2 2-2 (the second spacecraft) serves as the transmitting spacecraft, and actively adjusts the pointing direction 3 of the first side movable optical component in accordance with the guidance law in the uncertainty area in the yaw-pitch coordinate system of the first side movable optical component corresponding to the second spacecraft (i.e., the guidance law in the uncertainty area 11 in the yaw-pitch coordinate system of the first side movable optical component), that is, adjusts the pointing direction of the first side movable optical component of the second spacecraft, and generates an outgoing light beam, and based on the adjusted pointing direction, uses the outgoing light beam to perform spatial scanning on the uncertainty area corresponding to the third spacecraft (i.e., the uncertainty area 11 in the yaw-pitch coordinate system of the first side movable optical component), wherein the pointing adjustment component of the first side movable optical component in the yaw direction 5 is executed by the first side movable optical component 1, and the pointing adjustment component in the pitch direction 6 of the first side movable optical component is executed by controlling the attitude of the spacecraft 14 by the spacecraft attitude control system. At a certain moment in this process, spacecraft 3 2-3 (the third spacecraft) serving as the receiving spacecraft receives the outgoing light beam emitted by spacecraft 2 2-2, thereby correcting the direction of the movable optical component 2-9 on the second side of spacecraft 3 and transmitting a return light beam to spacecraft 2 2-2. After receiving the return light beam, spacecraft 2 2-2 stops the space scanning and corrects the direction of the movable optical component 2-6 on the first side of spacecraft 2. Thus, the space capture of the bidirectional intersatellite laser link composed of the intersatellite laser link L1 (2-10) and the intersatellite laser link L1' (2-11) is completed.

[0117] Step 305: Based on the guidance law in the uncertainty region in the yaw-pitch coordinate system of the second side movable optical component corresponding to the second spacecraft, the movable optical components of the second spacecraft and the first spacecraft are pointed and a bidirectional intersatellite laser link is generated between the second spacecraft and the first spacecraft.

[0118] Specifically, step 305 may include the following sub-steps S51-S55:

[0119] Step S51, converting the guidance law in the uncertain region in the yaw-pitch coordinate system of the second side movable optical component corresponding to the second spacecraft, and determining the guidance law in the uncertain region in the roll coordinate system of the bilateral pointing angle of the second side movable optical component corresponding to the second spacecraft-around the pointing of the first side movable optical component;

[0120] Step S52, based on the guidance law in the uncertainty area in the rolling coordinate system around the pointing of the movable optical component on the first side of the second spacecraft, the pointing of the movable optical component on the second side of the second spacecraft is adjusted, the adjusted pointing of the movable optical component on the second side of the second spacecraft is determined, and an outgoing light beam is generated;

[0121] Step S53: based on the adjusted direction of the movable optical assembly on the second side of the second spacecraft, use the outgoing light beam to perform spatial scanning on the uncertain area corresponding to the first spacecraft;

[0122] Step S54: when the first spacecraft receives the outgoing light beam, the outgoing light beam is used to correct the direction of the movable optical component on the first side of the first spacecraft, and a retroreflected light beam is generated and transmitted to the second spacecraft;

[0123] Step S55: When the second spacecraft receives the reflected light beam, the second side movable optical component of the second spacecraft is controlled to stop space scanning, and the reflected light beam is used to correct the adjustment direction of the second side movable optical component of the second spacecraft, so as to generate a bidirectional intersatellite laser link between the second spacecraft and the first spacecraft.

[0124] Please note that Figure 4-Figure 5, using the guidance law coordinate system conversion method, the space capture of the bidirectional intersatellite laser link composed of the intersatellite laser link L3 (2-14) and the intersatellite laser link L3' (2-15) (i.e., the bidirectional intersatellite laser link between the second spacecraft and the first spacecraft) is performed. Spacecraft No. 2-2 serves as the transmitting spacecraft, and actively adjusts the pointing direction of the second side movable optical component of the second spacecraft (i.e., the second side movable optical component pointing direction 4) according to the guidance law in the uncertainty area in the yaw-pitch coordinate system of the second side movable optical component corresponding to the second spacecraft, i.e., the guidance law in the uncertainty area 12 in the yaw-pitch coordinate system of the second side movable optical component, and then performs a spatial scan of the uncertainty area 12 in the yaw-pitch coordinate system of the second side movable optical component (i.e., the uncertainty area corresponding to the first spacecraft). However, since the pointing adjustment components in the yaw direction 7 and the pitch direction 8 of the second side movable optical component cannot be directly controlled, it is necessary to It is necessary to first convert the guidance law formulated in the uncertainty area 12 in the yaw-pitch coordinate system of the second-side movable optical component into the guidance law in the uncertainty area 13 in the roll coordinate system of the second-side movable optical component bilateral pointing angle - around the first-side movable optical component (that is, the guidance law in the uncertainty area in the roll coordinate system of the second-side movable optical component bilateral pointing angle - around the first-side movable optical component corresponding to the second spacecraft), wherein the pointing adjustment component in the direction of the bilateral pointing angle 10 is executed by the second-side movable optical component 2, and the pointing adjustment component in the roll direction 9 around the first-side movable optical component is executed by the spacecraft attitude control system controlling the attitude of the spacecraft 14. At a certain moment in this process, spacecraft 1 2-1 (the first spacecraft) serving as the receiving spacecraft receives the outgoing light beam emitted by spacecraft 2 2-2, thereby correcting the direction of the movable optical component 2-4 on the first side of spacecraft 1 and transmitting a return light beam to spacecraft 2 2-2. After receiving the return light beam, spacecraft 2 2-2 stops the space scanning and corrects the direction of the movable optical component 2-7 on the second side of spacecraft 2. Thus, the space capture of the bidirectional intersatellite laser link composed of the intersatellite laser link L3 (2-14) and the intersatellite laser link L3' (2-15) is completed. Figure 5 The spacecraft number in the presented space capture flow chart corresponds to this step.

[0125] In this embodiment, the transmitting spacecraft obtains the current installation matrix of the first-side and second-side movable optical components, thereby calculating the required coordinate transformation matrix and converting the guidance law pre-defined in the two-dimensional yaw-pitch coordinate system of the second-side movable optical component body coordinate system into the "double-side pointing angle-roll around the first-side movable optical component pointing" coordinate system; the transmitting spacecraft performs space scanning according to the guidance law in the "double-side pointing angle-roll around the first-side movable optical component pointing" coordinate system until the second-side capture sensor receives the reflected light beam; and subsequent steps such as the transmitting spacecraft pointing correction are executed.

[0126] Step 306: Based on the guidance law in the uncertainty region in the yaw-pitch coordinate system of the second side movable optical component corresponding to the first spacecraft, the movable optical components of the first spacecraft and the third spacecraft are pointed and the bidirectional intersatellite laser link is generated between the first spacecraft and the third spacecraft.

[0127] Specifically, step 306 may include the following sub-steps S61-S65:

[0128] Step S61, converting the guidance law in the uncertain region in the yaw-pitch coordinate system of the second side movable optical component corresponding to the first spacecraft, and determining the guidance law in the uncertain region in the roll coordinate system of the bilateral pointing angle of the second side movable optical component corresponding to the first spacecraft-around the pointing of the first side movable optical component;

[0129] Step S62, based on the guidance law in the uncertainty area in the rolling coordinate system around the pointing of the second side movable optical component corresponding to the first spacecraft, the pointing of the second side movable optical component of the first spacecraft is adjusted, the adjusted pointing of the second side movable optical component of the first spacecraft is determined, and an outgoing light beam is generated;

[0130] Step S63: Based on the adjusted direction of the movable optical component on the second side of the first spacecraft, use the outgoing light beam to perform spatial scanning on the uncertain area corresponding to the third spacecraft;

[0131] Step S64: when the third spacecraft receives the outgoing light beam, the outgoing light beam is used to correct the direction of the movable optical component on the first side of the third spacecraft, and a retroreflected light beam is generated and transmitted to the first spacecraft;

[0132] Step S65: When the first spacecraft receives the reflected light beam, the movable optical component on the second side of the first spacecraft is controlled to stop spatial scanning, and the reflected light beam is used to correct the adjustment direction of the movable optical component on the second side of the first spacecraft, so as to generate a bidirectional intersatellite laser link between the first spacecraft and the third spacecraft.

[0133] Please note that Figure 4, using the guidance law coordinate system conversion method, the space capture of the bidirectional intersatellite laser link composed of the intersatellite laser link L2 (2-12) and the intersatellite laser link L2' (2-13) (i.e., the bidirectional intersatellite laser link between the first spacecraft and the third spacecraft) is performed. Spacecraft No. 1 2-1 serves as the transmitting spacecraft, and actively adjusts the direction 4 of the second side movable optical component (i.e., the direction of the second side movable optical component of the first spacecraft) according to the preset guidance law in the uncertainty area in the yaw-pitch coordinate system of the second side movable optical component corresponding to the first spacecraft, i.e., the guidance law in the uncertainty area 12 in the yaw-pitch coordinate system of the second side movable optical component, and then performs a spatial scan of the uncertainty area 12 in the yaw-pitch coordinate system of the second side movable optical component (i.e., the uncertainty area corresponding to the third spacecraft). However, since the pointing adjustment components of the second side movable optical component in the yaw direction 7 and the pitch direction 8 cannot be directly controlled It is necessary to first convert the guidance law formulated in the uncertainty area 12 in the yaw-pitch coordinate system of the second-side movable optical component into the guidance law in the uncertainty area 13 in the roll coordinate system of the second-side movable optical component bilateral pointing angle - around the first-side movable optical component (that is, the guidance law in the uncertainty area in the roll coordinate system of the second-side movable optical component bilateral pointing angle - around the first-side movable optical component corresponding to the second spacecraft), wherein the pointing adjustment component in the direction of the bilateral pointing angle 10 is executed by the second-side movable optical component 2, and the pointing adjustment component in the roll direction 9 around the first-side movable optical component is executed by the spacecraft attitude control system controlling the attitude of the spacecraft 14. At a certain moment in the process, spacecraft No. 3 2-3, which serves as the receiving spacecraft, receives the outgoing light beam emitted by spacecraft No. 1 2-1, thereby correcting the direction of the movable optical component 2-8 on the first side of spacecraft No. 3 and transmitting a return light beam to spacecraft No. 1 2-1. After receiving the return light beam, spacecraft No. 1 2-1 stops the space scanning and corrects the direction of the movable optical component 2-5 on the second side of spacecraft No. 1. Thus, the space capture of the bidirectional intersatellite laser link composed of the intersatellite laser link L2 (2-12) and the intersatellite laser link L2' (2-13) is completed.

[0134] It is worth mentioning that the "guidance law" is a preset scanning trajectory for rotating the outgoing light beam to perform spatial scanning of the uncertain area. After completing the construction of multiple bidirectional intersatellite laser links, other subsequent processes are continued, such as fine pointing correction, device calibration, parameter estimation, etc. If there is no subsequent process, the spatial capture of the three bidirectional intersatellite laser links of the triangle constellation is completed.

[0135] In an embodiment of the present invention, the method of guidance law coordinate system conversion is suitable for tasks where the movable optical component is installed accurately enough or the installation matrix of the movable optical component can be accurately measured on-orbit, is insensitive to the time consumption cost and propellant consumption cost of the space scanning process, and is capable of designing appropriate multi-controller collaborative pointing control schemes.

[0136] See also Figure 6 , Figure 6 A flowchart of the steps of using a spacecraft attitude control system and a movable optical component iteratively adjusting the pointing method to perform space capture of an intersatellite laser link is provided in Embodiment 3 of the present invention. The process may include the following steps:

[0137] Step 601: Based on the guidance law in the uncertainty area in the yaw-pitch coordinate system of the first side movable optical component corresponding to the second spacecraft, the direction of the first side movable optical component of the second spacecraft is adjusted, the adjusted direction of the first side movable optical component of the second spacecraft is determined, and an outgoing light beam corresponding to the first side movable optical component of the second spacecraft is generated.

[0138] Step 602: Based on the guidance law in the uncertainty area in the yaw-pitch coordinate system of the second side movable optical component corresponding to the second spacecraft, adjust the direction of the second side movable optical component of the second spacecraft, determine the adjusted direction of the second side movable optical component of the second spacecraft, and generate an outgoing light beam corresponding to the second side movable optical component of the second spacecraft.

[0139] Step 603: Based on the adjusted direction of the movable optical component on the first side of the second spacecraft, use the outgoing light beam corresponding to the movable optical component on the first side of the second spacecraft to perform spatial scanning on the uncertain area corresponding to the first spacecraft.

[0140] Step 604: Based on the adjusted direction of the second side movable optical component of the second spacecraft, use the outgoing light beam corresponding to the second side movable optical component of the second spacecraft to perform spatial scanning on the uncertain area corresponding to the third spacecraft.

[0141] Step 605: When the third spacecraft receives the outgoing light beam corresponding to the second side movable optical component of the second spacecraft, the outgoing light beam corresponding to the second side movable optical component of the second spacecraft is used to correct the direction of the second side movable optical component of the third spacecraft, and a return light beam corresponding to the second side movable optical component of the third spacecraft is generated and transmitted to the second spacecraft.

[0142] Step 606: When the first spacecraft receives the outgoing light beam corresponding to the first side movable optical component of the second spacecraft, the outgoing light beam corresponding to the first side movable optical component of the second spacecraft is used to correct the direction of the first side movable optical component of the first spacecraft, and a return light beam corresponding to the first side movable optical component of the first spacecraft is generated and transmitted to the second spacecraft.

[0143] Step 607: When the second spacecraft receives the return light beam corresponding to the second side movable optical component of the third spacecraft and the return light beam corresponding to the first side movable optical component of the first spacecraft, the first side movable optical component and the second side movable optical component of the second spacecraft are controlled to stop spatial scanning.

[0144] Step 608: Based on the reflected light beam corresponding to the second side movable optical component of the third spacecraft and the reflected light beam corresponding to the first side movable optical component of the first spacecraft, the spacecraft attitude control system and the first side movable optical component and the second side movable optical component of the second spacecraft are alternately used to iteratively correct the attitude of the second spacecraft, adjust the direction of the first side movable optical component, and adjust the direction of the second side movable optical component to generate a bidirectional intersatellite laser link between the second spacecraft and the first spacecraft, and a bidirectional intersatellite laser link between the second spacecraft and the third spacecraft.

[0145] Please note that Figure 7-Figure 8, using the spacecraft attitude control system and the movable optical component iteratively adjusting the pointing method, the bidirectional intersatellite laser link composed of the intersatellite laser link L1 (2-10) and the intersatellite laser link L1' (2-11), and the bidirectional intersatellite laser link composed of the intersatellite laser link L3 (2-14) and the intersatellite laser link L3' (2-15) are spatially captured. Spacecraft No. 2-2 serves as the transmitting spacecraft, and in accordance with the preset guidance law in the uncertainty area in the yaw-pitch coordinate system of the first side movable optical component corresponding to the second spacecraft and the guidance law in the uncertainty area in the yaw-pitch coordinate system of the second side movable optical component corresponding to the second spacecraft, that is, the guidance law in the uncertainty area 11 in the yaw-pitch coordinate system of the first side movable optical component and the guidance law in the uncertainty area 12 in the yaw-pitch coordinate system of the second side movable optical component, sequentially or simultaneously, actively adjusts the first side movable optical component pointing to 3 (that is, the direction of the first side movable optical component of the second spacecraft) and the second side movable optical component pointing to 4 (that is, the direction of the second side movable optical component of the second spacecraft), and generates a corresponding outgoing light beam to the first side movable optical component. An uncertainty area 11 in the yaw-pitch coordinate system of the movable optical component on one side (i.e., the uncertainty area corresponding to the first spacecraft) and an uncertainty area 12 in the yaw-pitch coordinate system of the movable optical component on the second side (i.e., the uncertainty area corresponding to the third spacecraft) are spatially scanned, wherein a pointing adjustment component in the yaw direction 5 of the movable optical component on the first side is executed by the movable optical component 1 on the first side, a pointing adjustment component in the pitch direction 6 of the movable optical component on the first side is executed by the attitude control system of the spacecraft 14 to control the attitude of the spacecraft 14, a pointing adjustment component in the yaw direction 7 of the movable optical component on the second side is executed by the movable optical component 2 on the second side, and a pointing adjustment component in the pitch direction 8 of the movable optical component on the second side is executed by the attitude control system of the spacecraft 14 to control the attitude of the spacecraft 14. At a certain moment in this process, spacecraft No. 3 2-3 and spacecraft No. 1 2-1, which serve as receiving spacecraft, receive the outgoing light beam emitted by spacecraft No. 2 2-2, thereby correcting the pointing of one side of the second side movable optical component 2-9 of spacecraft No. 3 and the pointing of one side of the first side movable optical component 2-4 of spacecraft No. 1, and emit a return light beam to spacecraft No. 2 2-2. After receiving the double-sided return light beams, spacecraft No. 2 2-2 stops spatial scanning and begins to alternately use the spacecraft attitude control system and the double-sided movable optical components (i.e., the first side movable optical component and the second side movable optical component of the second spacecraft) to iteratively correct the attitude of spacecraft 14, the pointing 3 of the first side movable optical component, and the pointing 4 of the second side movable optical component (i.e., the attitude of the second spacecraft, the adjusted pointing of the first side movable optical component, and the adjusted pointing of the second side movable optical component). Each correction aims to minimize the incident angle error of the double-sided return light beams on the capture sensor, until the double-sided incident angle errors are simultaneously less than the preset tolerance, and the correction is completed.At this point, the space capture of the bidirectional intersatellite laser link composed of the intersatellite laser link L1 (2-10) and the intersatellite laser link L1' (2-11), and the bidirectional intersatellite laser link composed of the intersatellite laser link L3 (2-14) and the intersatellite laser link L3' (2-15) has been completed. Figure 8 The spacecraft number in the presented space capture flow chart corresponds to this step.

[0146] It is worth mentioning that when the capture sensor on one side of the transmitting spacecraft has received the return beam, the pointing correction on this side is not performed immediately, but the pointing correction is performed after the capture sensors on both sides receive the return beam at the same time; at the same time, the space capture of the intersatellite laser link on both sides is not performed in the order of completing the space capture of the intersatellite laser link on one side first and then the space capture of the intersatellite laser link on the other side, but the space capture of the intersatellite laser link on both sides is completed at the same time; in addition, the whole process of executing space scanning and correcting pointing does not use the spacecraft attitude control system and the movable optical component for coordinated pointing control, but alternately uses the spacecraft attitude control system and the movable optical component for pointing control, and preferably adopts guidance laws such as line scanning and rectangular scanning that adjust the pointing in only one direction each time.

[0147] In this embodiment, S1, the transmitting spacecraft performs spatial scanning of the bilateral intersatellite laser links sequentially or simultaneously according to a pre-established guidance law until the bilateral capture sensors receive the reflected light beams; S2, the attitude of the spacecraft is adjusted with the goal of minimizing the incident angle errors of the bilateral return light beams on the capture sensor; S3, the movable optical component is adjusted with the goal of minimizing the incident angle errors of the bilateral return light beams on the capture sensor; S4, steps S2-3 are repeated until the incident angle errors of the bilateral return light beams on the capture sensor are both less than the preset tolerances.

[0148] Step 609: Based on the guidance law in the uncertainty area in the yaw-pitch coordinate system of the second-side movable optical component corresponding to the first spacecraft, adjust the direction of the second-side movable optical component of the first spacecraft, determine the adjusted direction of the second-side movable optical component of the first spacecraft, and generate an outgoing light beam corresponding to the second-side movable optical component of the first spacecraft.

[0149] Step 6010: Based on the adjusted direction of the movable optical component on the second side of the first spacecraft, use the outgoing light beam corresponding to the movable optical component on the second side of the first spacecraft to perform spatial scanning on the uncertain area corresponding to the third spacecraft.

[0150] Step 6011, when the third spacecraft receives the outgoing light beam corresponding to the second-side movable optical component of the first spacecraft, it alternately uses the spacecraft attitude control system and the first-side movable optical component and the second-side movable optical component of the third spacecraft to iteratively correct the attitude of the third spacecraft, adjust the direction of the first-side movable optical component, and adjust the direction of the second-side movable optical component, and generate a return light beam corresponding to the first-side movable optical component and the second-side movable optical component of the third spacecraft to transmit to the first spacecraft.

[0151] Step 6012: When the first spacecraft receives the return light beam corresponding to the first side movable optical component and the second side movable optical component of the third spacecraft, the second side movable optical component of the first spacecraft is controlled to stop space scanning.

[0152] Step 6013: Based on the reflected light beam corresponding to the first side movable optical component and the reflected light beam corresponding to the second side movable optical component of the third spacecraft, the spacecraft attitude control system and the first side movable optical component and the second side movable optical component of the first spacecraft are alternately used to iteratively correct the attitude of the first spacecraft, the direction of the first side movable optical component, and the adjusted direction of the second side movable optical component, and a bidirectional intersatellite laser link is generated between the first spacecraft and the third spacecraft.

[0153] Please note that Figure 7, using the spacecraft attitude control system and the movable optical component iteratively adjusting the pointing method, the space capture of the bidirectional intersatellite laser link composed of the intersatellite laser link L2 (2-12) and the intersatellite laser link L2' (2-13) is carried out. Spacecraft No. 1 2-1 serves as the transmitting spacecraft. At this time, the intersatellite laser link L3 (2-14) has been established, which is equivalent to the return beam from spacecraft No. 2 2-2. At this time, spacecraft No. 1 2-1 skips the spatial scanning of the uncertainty area 11 in the yaw-pitch coordinate system of the first side movable optical component, and directly adjusts the pointing direction 4 of the second side movable optical component (the pointing direction of the second side movable optical component of the first spacecraft) according to the guidance law in the uncertainty area in the yaw-pitch coordinate system of the second side movable optical component corresponding to the first spacecraft, and performs spatial scanning of the uncertainty area 12 in the yaw-pitch coordinate system of the second side movable optical component (the uncertainty area corresponding to the third spacecraft), wherein the pointing adjustment component of the second side movable optical component in the yaw direction 7 is executed by the second side movable optical component 2, and the pointing adjustment component in the pitch direction 8 of the second side movable optical component is executed by the spacecraft attitude control system controlling the attitude of the spacecraft 14. At a certain moment in this process, spacecraft No. 3 2-3, which serves as the receiving spacecraft, receives the outgoing beam emitted from spacecraft No. 1 2-1, and then uses the spacecraft attitude control system and the movable optical component to iteratively adjust the pointing method, and alternately uses the spacecraft attitude control system and the double-sided movable optical component to iteratively correct its spacecraft attitude and the double-sided movable optical component pointing, and after the correction is completed, it sends a return beam to spacecraft No. 1 2-1. After receiving the double-sided return beam, spacecraft No. 1 2-1 stops space scanning and starts to use the spacecraft attitude control system and the movable optical component to iteratively adjust the pointing method, and alternately uses the spacecraft attitude control system and the double-sided movable optical component to iteratively correct its spacecraft attitude and the double-sided movable optical component pointing until the correction is completed. At this point, the space capture of the bidirectional intersatellite laser link composed of the intersatellite laser link L2 (2-12) and the intersatellite laser link L2' (2-13) is completed.

[0154] It is worth mentioning that after completing the construction of multiple bidirectional intersatellite laser links, other subsequent processes are executed, such as fine pointing correction, device calibration and parameter estimation, etc. If there are no subsequent processes, the spatial capture of the three bidirectional intersatellite laser links of the triangle constellation is completed.

[0155] In an embodiment of the present invention, the spacecraft attitude control system and the method for iteratively adjusting the pointing of the movable optical component are suitable for tasks with high reliability requirements, low precision of the movable optical component installation matrix, and simple structure of the constellation inter-satellite laser link.

[0156] See also Fig. 9 , Fig. 9A flowchart of the steps of performing intersatellite laser link capture using a one-sided intersatellite laser link space capture method and a pointing degree of freedom constraint method provided in Embodiment 4 of the present invention. The process may include the following steps:

[0157] Step 901: Based on the guidance law in the uncertainty area in the yaw-pitch coordinate system of the first side movable optical component corresponding to the second spacecraft, adjust the direction of the first side movable optical component of the second spacecraft, determine the adjusted direction of the first side movable optical component of the second spacecraft, and generate an outgoing light beam.

[0158] Step 902: Based on the adjusted direction of the movable optical component on the first side of the second spacecraft, use the outgoing light beam to perform spatial scanning on the uncertain area corresponding to the third spacecraft.

[0159] Step 903: When the third spacecraft receives the outgoing light beam, the direction of the movable optical component on the second side of the third spacecraft is corrected based on the outgoing light beam, and a return light beam is generated and transmitted to the second spacecraft.

[0160] Step 904: When the second spacecraft receives the reflected light beam, the movable optical component on the first side of the second spacecraft is controlled to stop space scanning, and the reflected light beam is used to correct the adjustment direction of the movable optical component on the first side of the second spacecraft, so as to generate a bidirectional intersatellite laser link between the second spacecraft and the third spacecraft.

[0161] Please note that Fig.10, using a general single-side intersatellite laser link space capture method, a bidirectional intersatellite laser link consisting of an intersatellite laser link L1 (2-10) and an intersatellite laser link L1' (2-11) is space captured. Spacecraft No. 2-2 serves as a transmitting spacecraft, and actively adjusts the first side movable optical component pointing 3 (the pointing of the first side movable optical component of the second spacecraft) according to the preset guidance law in the uncertainty area in the yaw-pitch coordinate system of the first side movable optical component corresponding to the second spacecraft (i.e., the guidance law in the uncertainty area 11 in the yaw-pitch coordinate system of the first side movable optical component), and performs a space scan on the uncertainty area 11 in the yaw-pitch coordinate system of the first side movable optical component (i.e., the uncertainty area corresponding to the third spacecraft), wherein the pointing adjustment component of the first side movable optical component in the yaw direction 5 is executed by the first side movable optical component 1, and the pointing adjustment component of the first side movable optical component in the pitch direction 6 is executed by the spacecraft attitude control system controlling the attitude of the spacecraft 14. At a certain moment in the process, spacecraft No. 3 2-3, which serves as the receiving spacecraft, receives the outgoing light beam emitted by spacecraft No. 2 2-2, thereby correcting the direction of the movable optical component 2-9 on the second side of spacecraft No. 3 and transmitting the return light beam to spacecraft No. 2 2-2. After receiving the return light beam, spacecraft No. 2 2-2 stops the space scanning and corrects the direction of the movable optical component 2-6 on the first side of spacecraft No. 2. Thus, the space capture of the bidirectional intersatellite laser link composed of the intersatellite laser link L1 (2-10) and the intersatellite laser link L1' (2-11) is completed.

[0162] Step 905: Determine the pointing error of the second side movable optical component of the second spacecraft based on the corrected actual direction of the outgoing light beam emitted by the first side movable optical component of the second spacecraft.

[0163] Step 906: Determine the guidance law in the uncertain region in the rolling coordinate system around the pointing error of the second side movable optical component of the second spacecraft, i.e., the bilateral pointing angle of the second side movable optical component corresponding to the second spacecraft.

[0164] Step 907, based on the guidance law in the uncertainty area in the rolling coordinate system around the pointing of the movable optical component on the first side of the second spacecraft, the pointing of the movable optical component on the second side of the second spacecraft is adjusted, the adjusted pointing of the movable optical component on the second side of the second spacecraft is determined, and an outgoing light beam is generated.

[0165] Step 908: Based on the adjusted direction of the movable optical component on the second side of the second spacecraft, use the outgoing light beam to perform spatial scanning on the uncertain area corresponding to the first spacecraft.

[0166] When the first spacecraft receives the outgoing light beam, the orientation of the first side movable optical component of the first spacecraft is corrected based on the outgoing light beam, and a retroreflected light beam is generated and transmitted to the second spacecraft.

[0167] Step 909: When the second spacecraft receives the reflected light beam, the second side movable optical component of the second spacecraft is controlled to stop space scanning, and the reflected light beam is used to correct the adjustment direction of the second side movable optical component of the second spacecraft, so as to generate a bidirectional intersatellite laser link between the second spacecraft and the first spacecraft.

[0168] Please note that Figure 10-11 , using the method of constraining the pointing degrees of freedom one by one, the space capture of the bidirectional intersatellite laser link composed of the intersatellite laser link L3 (2-14) and the intersatellite laser link L3' (2-15) is performed. The spacecraft No. 2-2, which serves as the transmitting spacecraft, estimates the pointing error of the second side movable optical component pointing 4 in the bilateral pointing angle direction 10 and the rolling direction 9 around the first side movable optical component pointing, that is, the pointing error of the second side movable optical component of the second spacecraft, wherein the pointing error of the "second side" movable optical component of spacecraft No. 2 here is estimated based on the actual direction of the "first side" outgoing light beam emitted by the "first side" movable optical component of spacecraft No. 2, which has completely corrected the pointing error.

[0169] Next, the uncertain area 13 in the rolling coordinate system around the pointing direction of the movable optical component on the first side is calculated, and the guidance law is formulated based on this as the boundary (that is, the guidance law in the uncertain area in the rolling coordinate system around the pointing direction of the movable optical component on the first side corresponding to the second spacecraft and the pointing direction of the movable optical component on the second side). Only the uncertain area 13 in the rolling coordinate system around the pointing direction of the movable optical component on the first side (that is, the uncertain area corresponding to the first spacecraft) is spatially scanned. Among them, the measurement and control accuracy of the absolute attitude of the spacecraft 14 in the inertial system when entering orbit is low, and the absolute angle measurement and control accuracy of the first side movable optical component 1 and the second side movable optical component 2 is high. Therefore, the uncertainty area component in the bilateral pointing angle direction 10 is small, and the uncertainty area component in the rolling direction 9 around the first side movable optical component is large. In addition, the uncertainty area 13 in the rolling coordinate system of the bilateral pointing angle of the second side movable optical component - around the first side movable optical component is smaller in both directions than the uncertainty area 11 in the yaw-pitch coordinate system of the first side movable optical component.

[0170] Furthermore, at a certain moment in the process, spacecraft 1 2-1, which serves as a receiving spacecraft, receives an outgoing light beam emitted from spacecraft 2 2-2, thereby correcting the direction of the movable optical component 2-4 on the first side of spacecraft 1 and transmitting a return light beam to spacecraft 2 2-2. After receiving the return light beam, spacecraft 2 2-2 stops the space scanning and corrects the direction of the movable optical component 2-7 on the second side of spacecraft 2. Thus, the space capture of the bidirectional intersatellite laser link composed of the intersatellite laser link L3 (2-14) and the intersatellite laser link L3' (2-15) is completed. Fig.11 The spacecraft number in the presented space capture flow chart corresponds to this step.

[0171] In this embodiment, the remaining parameter space of the remaining under-constrained pointing degrees of freedom is estimated, a new uncertainty region is determined in the remaining parameter space, and a guidance law is formulated with the new uncertainty region as the boundary; the transmitting spacecraft performs space scanning according to the guidance law formulated in the remaining parameter space until the second-side capture sensor receives the reflected light beam; and subsequent steps such as transmitting spacecraft pointing correction are executed.

[0172] Step 9010: Determine the pointing error of the movable optical component on the second side of the first spacecraft based on the corrected actual direction of the outgoing light beam emitted by the movable optical component on the first side of the first spacecraft.

[0173] Step 9011: determine the guidance law in the uncertain area in the rolling coordinate system around the pointing error of the second side movable optical component of the first spacecraft, the bilateral pointing angle of the second side movable optical component corresponding to the first spacecraft.

[0174] Step 9012: Based on the guidance law in the uncertainty area in the rolling coordinate system around the pointing of the movable optical component on the second side of the first spacecraft, which is the bilateral pointing angle of the movable optical component on the second side corresponding to the first spacecraft, the pointing of the movable optical component on the second side of the first spacecraft is adjusted, the adjusted pointing of the movable optical component on the second side of the first spacecraft is determined, and an outgoing light beam is generated.

[0175] Step 9013: Based on the adjusted direction of the movable optical component on the second side of the first spacecraft, use the outgoing light beam to perform spatial scanning on the uncertain area corresponding to the third spacecraft.

[0176] Step 9014: When the third spacecraft receives the outgoing light beam, the direction of the movable optical component on the first side of the third spacecraft is corrected based on the outgoing light beam, and a return light beam is generated and transmitted to the first spacecraft.

[0177] Step 9015: When the first spacecraft receives the reflected light beam, the movable optical component on the second side of the first spacecraft is controlled to stop space scanning, and the reflected light beam is used to correct the adjustment direction of the movable optical component on the second side of the first spacecraft, so as to generate a bidirectional intersatellite laser link between the first spacecraft and the third spacecraft.

[0178] Please note that Fig.10 , using the method of constraining the pointing degrees of freedom one by one, the space capture of the bidirectional intersatellite laser link composed of the intersatellite laser link L2 (2-12) and the intersatellite laser link L2' (2-13) is performed. The spacecraft No. 1 2-1, which serves as the transmitting spacecraft, estimates the pointing error of the second side movable optical component pointing 4 in the direction of the bilateral pointing angle 10 and the rolling direction 9 around the pointing of the first side movable optical component, that is, the pointing error of the second side movable optical component of the first spacecraft, and calculates the uncertainty area 13 of the bilateral pointing angle of the second side movable optical component-around the pointing of the first side movable optical component in the rolling coordinate system, and formulates the guidance law based on this as the boundary, that is, the guidance law in the uncertainty area of ​​the bilateral pointing angle of the second side movable optical component-around the pointing of the first side movable optical component in the rolling coordinate system corresponding to the first spacecraft, and only performs spatial scanning on the uncertainty area 13 of the bilateral pointing angle of the second side movable optical component-around the pointing of the first side movable optical component in the rolling coordinate system (that is, the uncertainty area corresponding to the third spacecraft). Among them, the measurement and control accuracy of the absolute attitude of the spacecraft 14 in the inertial system when entering orbit is low, and the absolute angle measurement and control accuracy of the first side movable optical component 1 and the second side movable optical component 2 is high. Therefore, the uncertainty area component in the bilateral pointing angle direction 10 is small, and the uncertainty area component in the rolling direction 9 around the first side movable optical component is large. In addition, the uncertainty area 13 in the rolling coordinate system of the bilateral pointing angle of the second side movable optical component - around the first side movable optical component is smaller in both directions than the uncertainty area 11 in the yaw-pitch coordinate system of the first side movable optical component.

[0179] At a certain moment in this process, spacecraft No. 3 2-3, which serves as the receiving spacecraft, receives the outgoing beam emitted from spacecraft No. 1 2-1, thereby correcting the direction of the movable optical component 2-8 on the first side of spacecraft No. 3 and transmitting a return beam to spacecraft No. 1 2-1. After receiving the return beam, spacecraft No. 1 2-1 stops the space scan and corrects the direction of the movable optical component 2-5 on the second side of spacecraft No. 1. Thus, the space capture of the bidirectional intersatellite laser link composed of the intersatellite laser link L2 (2-12) and the intersatellite laser link L2' (2-13) is completed.

[0180] It is worth mentioning that after completing the construction of multiple bidirectional intersatellite laser links, other subsequent processes are executed, such as fine pointing correction, device calibration and parameter estimation, etc. If there are no subsequent processes, the spatial capture of the three bidirectional intersatellite laser links of the triangle constellation is completed.

[0181] In an embodiment of the present invention, the method of constraining the pointing degrees of freedom one by one has the lowest time consumption cost and propellant consumption cost, can avoid spatial scanning of invalid areas, and minimize the number of scanning points used in the spatial scanning process. It is suitable for tasks that are sensitive to the time consumption cost and propellant consumption cost of the capture process.

[0182] See also Fig.12 , Fig.12 This is a structural block diagram of a spacecraft dual-side intersatellite laser link space capture system provided in Example 5 of the present invention.

[0183] The structural block diagram of a spacecraft dual-side intersatellite laser link space capture system provided by the present invention includes:

[0184] The acquisition module 1201 is used to acquire the key indicator data of the capture task and determine whether the key indicator data of the capture task meets the preset first capture condition, the preset second capture condition or the preset third capture condition;

[0185] The first capture module 1202 is used to perform intersatellite laser link capture on the spacecraft group using a single-side intersatellite laser link space capture method and a guidance law coordinate system conversion method when the key indicator data of the capture mission meets a preset first capture condition, and generate multiple bidirectional intersatellite laser links;

[0186] The second capture module 1203 is used to capture the spacecraft group through intersatellite laser links by using the spacecraft attitude control system and the movable optical component iterative pointing adjustment method when the key indicator data of the capture mission meets the preset second capture condition, and generate multiple bidirectional intersatellite laser links;

[0187] The third capture module 1204 is used to capture the intersatellite laser link of the spacecraft group using the unilateral intersatellite laser link space capture method and the pointing degree of freedom constraint method when the key indicator data of the capture mission meets the preset third capture condition, and generate multiple bidirectional intersatellite laser links

[0188] Further, the spacecraft group includes a first spacecraft, a second spacecraft and a third spacecraft; the first capture module 1202 includes:

[0189] A first submodule is used to adjust the orientation of the first side movable optical assembly of the second spacecraft based on the guidance law in the uncertainty region in the yaw-pitch coordinate system of the first side movable optical assembly corresponding to the second spacecraft, determine the adjusted orientation of the first side movable optical assembly of the second spacecraft, and generate an outgoing light beam;

[0190] The second submodule is used to perform spatial scanning of the uncertain area corresponding to the third spacecraft using an outgoing light beam based on the adjustment direction of the movable optical component on the first side of the second spacecraft;

[0191] A third submodule is used for correcting the direction of the second side movable optical component of the third spacecraft based on the outgoing light beam when the third spacecraft receives the outgoing light beam, and generating a retroreflected light beam to be transmitted to the second spacecraft;

[0192] a fourth submodule, for controlling the first side movable optical component of the second spacecraft to stop space scanning when the second spacecraft receives the return beam, and using the return beam to correct the adjustment direction of the first side movable optical component of the second spacecraft, so as to generate a bidirectional intersatellite laser link between the second spacecraft and the third spacecraft;

[0193] a fifth submodule, configured to adjust the pointing of the movable optical components of the second spacecraft and the first spacecraft based on the guidance law in the uncertainty region in the yaw-pitch coordinate system of the second side movable optical component corresponding to the second spacecraft, and generate a bidirectional intersatellite laser link between the second spacecraft and the first spacecraft;

[0194] The sixth submodule is used to adjust the pointing of the movable optical components of the first spacecraft and the third spacecraft based on the guidance law in the uncertain area in the yaw-pitch coordinate system of the second side movable optical component corresponding to the first spacecraft, so as to generate a bidirectional intersatellite laser link between the first spacecraft and the third spacecraft.

[0195] Furthermore, the fifth submodule is specifically used for:

[0196] Transforming the guidance law in the uncertainty region in the yaw-pitch coordinate system of the second side movable optical component corresponding to the second spacecraft, and determining the guidance law in the uncertainty region in the roll coordinate system of the bilateral pointing angle of the second side movable optical component corresponding to the second spacecraft-around the pointing of the first side movable optical component;

[0197] Based on the guidance law in the uncertainty region in the rolling coordinate system around the pointing of the movable optical component on the first side of the second spacecraft and the pointing angle of the movable optical component on both sides of the second spacecraft, the pointing of the movable optical component on the second side of the second spacecraft is adjusted, the adjusted pointing of the movable optical component on the second side of the second spacecraft is determined, and an outgoing light beam is generated;

[0198] Based on the adjusted direction of the movable optical component on the second side of the second spacecraft, the outgoing light beam is used to perform spatial scanning on the uncertain area corresponding to the first spacecraft;

[0199] When the first spacecraft receives the outgoing light beam, the outgoing light beam is used to correct the direction of the movable optical component on the first side of the first spacecraft, and a retroreflected light beam is generated and transmitted to the second spacecraft;

[0200] When the second spacecraft receives the return beam, the second side movable optical component of the second spacecraft is controlled to stop space scanning, and the return beam is used to correct the adjustment direction of the second side movable optical component of the second spacecraft, thereby generating a bidirectional intersatellite laser link between the second spacecraft and the first spacecraft.

[0201] Furthermore, the sixth submodule is specifically used for:

[0202] The guidance law in the uncertainty region in the yaw-pitch coordinate system of the second side movable optical component corresponding to the first spacecraft is converted to determine the guidance law in the uncertainty region in the roll coordinate system of the bilateral pointing angle of the second side movable optical component corresponding to the first spacecraft-around the pointing of the first side movable optical component;

[0203] Based on the guidance law in the uncertainty region in the rolling coordinate system around the pointing of the second side movable optical component corresponding to the first spacecraft, which is the bilateral pointing angle of the second side movable optical component, the pointing of the second side movable optical component of the first spacecraft is adjusted, the adjusted pointing of the second side movable optical component of the first spacecraft is determined, and an outgoing light beam is generated;

[0204] Based on the adjustment direction of the movable optical component on the second side of the first spacecraft, the outgoing light beam is used to perform spatial scanning on the uncertain area corresponding to the third spacecraft;

[0205] When the third spacecraft receives the outgoing light beam, the outgoing light beam is used to correct the direction of the movable optical component on the first side of the third spacecraft, and a retroreflected light beam is generated and transmitted to the first spacecraft;

[0206] When the first spacecraft receives the return beam, the second side movable optical component of the first spacecraft is controlled to stop space scanning, and the return beam is used to correct the adjustment direction of the second side movable optical component of the first spacecraft, thereby generating a bidirectional intersatellite laser link between the first spacecraft and the third spacecraft.

[0207] Furthermore, the second capturing module 1203 is specifically configured to:

[0208] adjusting the orientation of the first side movable optical component of the second spacecraft based on the guidance law in the uncertainty region in the yaw-pitch coordinate system of the first side movable optical component corresponding to the second spacecraft, determining the adjusted orientation of the first side movable optical component of the second spacecraft, and generating an outgoing light beam corresponding to the first side movable optical component of the second spacecraft;

[0209] adjusting the orientation of the second side movable optical assembly of the second spacecraft based on the guidance law in the uncertainty region in the yaw-pitch coordinate system of the second side movable optical assembly corresponding to the second spacecraft, determining the adjusted orientation of the second side movable optical assembly of the second spacecraft, and generating an outgoing light beam corresponding to the second side movable optical assembly of the second spacecraft;

[0210] Based on the adjusted direction of the movable optical component on the first side of the second spacecraft, using the outgoing light beam corresponding to the movable optical component on the first side of the second spacecraft to perform spatial scanning on the uncertain area corresponding to the first spacecraft;

[0211] Based on the adjusted direction of the second side movable optical component of the second spacecraft, using the outgoing light beam corresponding to the second side movable optical component of the second spacecraft to perform spatial scanning on the uncertain area corresponding to the third spacecraft;

[0212] When the third spacecraft receives the outgoing light beam corresponding to the second side movable optical component of the second spacecraft, the outgoing light beam corresponding to the second side movable optical component of the second spacecraft is used to correct the direction of the second side movable optical component of the third spacecraft, and a return light beam corresponding to the second side movable optical component of the third spacecraft is generated and transmitted to the second spacecraft;

[0213] When the first spacecraft receives an outgoing light beam corresponding to the first side movable optical component of the second spacecraft, the outgoing light beam corresponding to the first side movable optical component of the second spacecraft is used to correct the direction of the first side movable optical component of the first spacecraft, and a return light beam corresponding to the first side movable optical component of the first spacecraft is generated and transmitted to the second spacecraft;

[0214] When the second spacecraft receives the return light beam corresponding to the second side movable optical component of the third spacecraft and the return light beam corresponding to the first side movable optical component of the first spacecraft, the first side movable optical component and the second side movable optical component of the second spacecraft are controlled to stop space scanning;

[0215] Based on the return beam corresponding to the second side movable optical component of the third spacecraft and the return beam corresponding to the first side movable optical component of the first spacecraft, alternately use the spacecraft attitude control system and the first side movable optical component and the second side movable optical component of the second spacecraft to iteratively correct the attitude of the second spacecraft, the adjustment direction of the first side movable optical component and the adjustment direction of the second side movable optical component to generate a bidirectional intersatellite laser link between the second spacecraft and the first spacecraft and a bidirectional intersatellite laser link between the second spacecraft and the third spacecraft;

[0216] Based on the guidance law in the uncertainty region in the yaw-pitch coordinate system of the second side movable optical assembly corresponding to the first spacecraft, the orientation of the second side movable optical assembly of the first spacecraft is adjusted, the adjustment orientation of the second side movable optical assembly of the first spacecraft is determined, and an outgoing light beam corresponding to the second side movable optical assembly of the first spacecraft is generated;

[0217] Based on the adjusted direction of the movable optical component on the second side of the first spacecraft, using the outgoing light beam corresponding to the movable optical component on the second side of the first spacecraft to perform spatial scanning on the uncertain area corresponding to the third spacecraft;

[0218] When the third spacecraft receives the outgoing light beam corresponding to the second side movable optical component of the first spacecraft, the spacecraft attitude control system and the first side movable optical component and the second side movable optical component of the third spacecraft are alternately used to iteratively correct the attitude of the third spacecraft, the adjustment direction of the first side movable optical component, and the adjustment direction of the second side movable optical component, and a return light beam corresponding to the first side movable optical component and the second side movable optical component of the third spacecraft are generated and emitted to the first spacecraft;

[0219] When the first spacecraft receives the retroreflected light beam corresponding to the first side movable optical component and the retroreflected light beam corresponding to the second side movable optical component of the third spacecraft, controlling the second side movable optical component of the first spacecraft to stop space scanning;

[0220] Based on the reflected light beam corresponding to the first side movable optical component and the reflected light beam corresponding to the second side movable optical component of the third spacecraft, the spacecraft attitude control system and the first side movable optical component and the second side movable optical component of the first spacecraft are alternately used to iteratively correct the attitude of the first spacecraft, the pointing of the first side movable optical component, and the adjusted pointing of the second side movable optical component, and generate a bidirectional intersatellite laser link between the first spacecraft and the third spacecraft.

[0221] Furthermore, the third capturing module 1204 is specifically configured to:

[0222] adjusting the orientation of the first side movable optical assembly of the second spacecraft based on the guidance law in the uncertainty region in the yaw-pitch coordinate system of the first side movable optical assembly corresponding to the second spacecraft, determining the adjusted orientation of the first side movable optical assembly of the second spacecraft, and generating an outgoing light beam;

[0223] Based on the adjustment direction of the movable optical component on the first side of the second spacecraft, the outgoing light beam is used to perform spatial scanning on the uncertain area corresponding to the third spacecraft;

[0224] When the third spacecraft receives the outgoing light beam, the direction of the movable optical component on the second side of the third spacecraft is corrected based on the outgoing light beam, and a retroreflected light beam is generated and transmitted to the second spacecraft;

[0225] When the second spacecraft receives the return beam, the movable optical component on the first side of the second spacecraft is controlled to stop space scanning, and the adjustment direction of the movable optical component on the first side of the second spacecraft is corrected by using the return beam, so as to generate a bidirectional intersatellite laser link between the second spacecraft and the third spacecraft;

[0226] determining a pointing error of a second side movable optical assembly of the second spacecraft based on the corrected actual direction of the outgoing light beam emitted by the first side movable optical assembly of the second spacecraft;

[0227] Determine, according to the pointing error of the second side movable optical assembly of the second spacecraft, the guidance law of the second side movable optical assembly bilateral pointing angle corresponding to the second spacecraft in the uncertain region in the rolling coordinate system around the pointing of the first side movable optical assembly;

[0228] Based on the guidance law in the uncertainty region in the rolling coordinate system around the pointing of the movable optical component on the first side of the second spacecraft, the pointing of the movable optical component on the second side of the second spacecraft is adjusted, the adjusted pointing of the movable optical component on the second side of the second spacecraft is determined, and an outgoing light beam is generated;

[0229] Based on the adjusted direction of the movable optical component on the second side of the second spacecraft, the outgoing light beam is used to perform spatial scanning on the uncertain area corresponding to the first spacecraft;

[0230] When the first spacecraft receives the outgoing light beam, the orientation of the movable optical assembly on the first side of the first spacecraft is corrected based on the outgoing light beam, and a retroreflected light beam is generated and transmitted to the second spacecraft;

[0231] When the second spacecraft receives the return beam, the second side movable optical component of the second spacecraft is controlled to stop space scanning, and the adjustment direction of the second side movable optical component of the second spacecraft is corrected by using the return beam, so as to generate a bidirectional intersatellite laser link between the second spacecraft and the first spacecraft;

[0232] determining a pointing error of a second side movable optical assembly of the first spacecraft based on a corrected actual direction of an outgoing light beam emitted by the first side movable optical assembly of the first spacecraft;

[0233] According to the pointing error of the movable optical component on the second side of the first spacecraft, determine the guidance law in the uncertain area in the rolling coordinate system around the pointing of the movable optical component on the second side of the first spacecraft, the pointing angle of the movable optical component on both sides of the second side of the first spacecraft;

[0234] Based on the guidance law in the uncertainty region in the rolling coordinate system around the pointing of the second side movable optical component corresponding to the first spacecraft, which is the bilateral pointing angle of the second side movable optical component, the pointing of the second side movable optical component of the first spacecraft is adjusted, the adjustment pointing of the second side movable optical component of the first spacecraft is determined, and an outgoing light beam is generated;

[0235] Based on the adjustment direction of the movable optical component on the second side of the first spacecraft, the outgoing light beam is used to perform spatial scanning on the uncertain area corresponding to the third spacecraft;

[0236] When the third spacecraft receives the outgoing light beam, the direction of the movable optical component on the first side of the third spacecraft is corrected based on the outgoing light beam, and a retroreflected light beam is generated and transmitted to the first spacecraft;

[0237] When the first spacecraft receives the return beam, the second side movable optical component of the first spacecraft is controlled to stop space scanning, and the return beam is used to correct the adjustment direction of the second side movable optical component of the first spacecraft, thereby generating a bidirectional intersatellite laser link between the first spacecraft and the third spacecraft.

[0238] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described systems, modules and sub-modules can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0239] An embodiment of the present invention also provides a computer device, including a memory and a processor, wherein a computer program is stored in the memory; when the computer program is executed by the processor, the processor executes the steps of the space capture method of the spacecraft bilateral inter-satellite laser link as described in any of the above embodiments.

[0240] An embodiment of the present invention further provides a computer-readable storage medium having a computer program / instruction stored thereon. When the computer program / instruction is executed by a processor, the steps of the space capture method of a spacecraft bilateral inter-satellite laser link are implemented as in any of the above embodiments.

[0241] An embodiment of the present invention further provides a computer program product, including a computer program / instruction, which, when executed by a processor, implements the steps of the space capture method of a spacecraft bilateral inter-satellite laser link as in any of the above embodiments.

[0242] In the several embodiments provided in the present application, it should be understood that the disclosed systems and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0243] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0244] As described above, the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features thereof may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A space capture method for a spacecraft bilateral intersatellite laser link, characterized in that: Applied to a spacecraft assembly, the method comprises: Acquire key indicator data of a capture task, and determine whether the key indicator data of the capture task satisfies a preset first capture condition, a preset second capture condition, or a preset third capture condition; When the capture mission key indicator data meets the preset first capture condition, the spacecraft group is captured using a single-sided intersatellite laser link space capture method and a guidance law coordinate system conversion method to generate multiple bidirectional intersatellite laser links; When the key indicator data of the capture mission meets the preset second capture condition, the spacecraft group is captured by an intersatellite laser link using a spacecraft attitude control system and a movable optical component iteratively adjusting pointing method to generate multiple bidirectional intersatellite laser links; When the key indicator data of the capture mission meets the preset third capture condition, the one-sided intersatellite laser link space capture method and the pointing degree of freedom constraint method are used to perform intersatellite laser link capture on the spacecraft group to generate multiple bidirectional intersatellite laser links.

2. The space capture method of spacecraft bilateral intersatellite laser link according to claim 1, characterized in that: The spacecraft group includes a first spacecraft, a second spacecraft and a third spacecraft; the preset guidance law includes a first guidance law; the method of using a single-sided intersatellite laser link space capture method and a guidance law coordinate system conversion method to perform intersatellite laser link capture on multiple spacecraft to generate multiple bidirectional intersatellite laser links includes: adjusting the orientation of the first side movable optical component of the second spacecraft based on the guidance law in the uncertainty region in the yaw-pitch coordinate system of the first side movable optical component corresponding to the second spacecraft, determining the adjusted orientation of the first side movable optical component of the second spacecraft, and generating an outgoing light beam; Based on the adjusted direction of the movable optical component on the first side of the second spacecraft, using the outgoing light beam to perform spatial scanning on the uncertain area corresponding to the third spacecraft; When the third spacecraft receives the outgoing light beam, the direction of the movable optical component on the second side of the third spacecraft is corrected based on the outgoing light beam, and a retroreflected light beam is generated and transmitted to the second spacecraft; When the second spacecraft receives the return beam, the movable optical component on the first side of the second spacecraft is controlled to stop space scanning, and the adjustment direction of the movable optical component on the first side of the second spacecraft is corrected by using the return beam, so as to generate a bidirectional intersatellite laser link between the second spacecraft and the third spacecraft; Based on the guidance law in the uncertainty region in the yaw-pitch coordinate system of the second side movable optical assembly corresponding to the second spacecraft, the movable optical assembly of the second spacecraft and the first spacecraft are adjusted in pointing order to generate a bidirectional intersatellite laser link between the second spacecraft and the first spacecraft; Based on the guidance law in the uncertain area in the yaw-pitch coordinate system of the second side movable optical component corresponding to the first spacecraft, the pointing of the movable optical components of the first spacecraft and the third spacecraft are adjusted to generate a bidirectional intersatellite laser link between the first spacecraft and the third spacecraft.

3. The space capture method of spacecraft bilateral intersatellite laser link according to claim 2, characterized in that: The method of adjusting the pointing of the movable optical components of the second spacecraft and the first spacecraft based on the guidance law in the uncertain region in the yaw-pitch coordinate system of the second side movable optical component corresponding to the second spacecraft, and generating a bidirectional intersatellite laser link between the second spacecraft and the first spacecraft includes: Transforming the guidance law in the uncertainty region in the yaw-pitch coordinate system of the second side movable optical component corresponding to the second spacecraft, and determining the guidance law in the uncertainty region in the roll coordinate system of the bilateral pointing angle of the second side movable optical component corresponding to the second spacecraft-around the pointing of the first side movable optical component; Based on the guidance law in the uncertainty region in the rolling coordinate system around the pointing of the movable optical component on the first side of the second spacecraft and the bilateral pointing angle of the movable optical component on the second side of the second spacecraft, the pointing of the movable optical component on the second side of the second spacecraft is adjusted, the adjusted pointing of the movable optical component on the second side of the second spacecraft is determined, and an outgoing light beam is generated; Based on the adjusted direction of the movable optical component on the second side of the second spacecraft, using the outgoing light beam to perform spatial scanning on the uncertain area corresponding to the first spacecraft; When the first spacecraft receives the outgoing light beam, the outgoing light beam is used to correct the direction of the movable optical component on the first side of the first spacecraft, and a retroreflected light beam is generated and transmitted to the second spacecraft; When the second spacecraft receives the return beam, the second side movable optical component of the second spacecraft is controlled to stop space scanning, and the return beam is used to correct the adjustment direction of the second side movable optical component of the second spacecraft, thereby generating a bidirectional intersatellite laser link between the second spacecraft and the first spacecraft.

4. The space capture method of spacecraft bilateral intersatellite laser link according to claim 2, characterized in that: The method of adjusting the pointing of the movable optical components of the first spacecraft and the third spacecraft based on the guidance law in the uncertain region in the yaw-pitch coordinate system of the second side movable optical component corresponding to the first spacecraft, and generating a bidirectional intersatellite laser link between the first spacecraft and the third spacecraft includes: Transforming the guidance law in the uncertainty region of the yaw-pitch coordinate system of the second side movable optical component corresponding to the first spacecraft, and determining the guidance law in the uncertainty region of the rolling coordinate system of the bilateral pointing angle of the second side movable optical component corresponding to the first spacecraft-around the pointing of the first side movable optical component; Based on the guidance law in the uncertainty region in the rolling coordinate system around the pointing of the second side movable optical component corresponding to the first spacecraft, which is the bilateral pointing angle of the second side movable optical component, the pointing of the second side movable optical component of the first spacecraft is adjusted, the adjusted pointing of the second side movable optical component of the first spacecraft is determined, and an outgoing light beam is generated; Based on the adjusted direction of the movable optical component on the second side of the first spacecraft, using the outgoing light beam to perform spatial scanning on the uncertain area corresponding to the third spacecraft; When the third spacecraft receives the outgoing light beam, the outgoing light beam is used to correct the direction of the movable optical component on the first side of the third spacecraft, and a retroreflected light beam is generated and transmitted to the first spacecraft; When the first spacecraft receives the return beam, the movable optical component on the second side of the first spacecraft is controlled to stop spatial scanning, and the return beam is used to correct the adjustment direction of the movable optical component on the second side of the first spacecraft, thereby generating a bidirectional intersatellite laser link between the first spacecraft and the third spacecraft.

5. The space capture method of spacecraft bilateral intersatellite laser link according to claim 2, characterized in that: The method of using a spacecraft attitude control system and a movable optical component to iteratively adjust the pointing method to capture the spacecraft group through an intersatellite laser link to generate multiple bidirectional intersatellite laser links includes: adjusting the orientation of the first side movable optical component of the second spacecraft based on the guidance law in the uncertainty region in the yaw-pitch coordinate system of the first side movable optical component corresponding to the second spacecraft, determining the adjusted orientation of the first side movable optical component of the second spacecraft, and generating an outgoing light beam corresponding to the first side movable optical component of the second spacecraft; adjusting the orientation of the second side movable optical component of the second spacecraft based on the guidance law in the uncertainty region in the yaw-pitch coordinate system of the second side movable optical component corresponding to the second spacecraft, determining the adjusted orientation of the second side movable optical component of the second spacecraft, and generating an outgoing light beam corresponding to the second side movable optical component of the second spacecraft; Based on the adjusted direction of the movable optical component on the first side of the second spacecraft, using the outgoing light beam corresponding to the movable optical component on the first side of the second spacecraft to perform spatial scanning on the uncertain area corresponding to the first spacecraft; Based on the adjusted direction of the second side movable optical component of the second spacecraft, using the outgoing light beam corresponding to the second side movable optical component of the second spacecraft to perform spatial scanning on the uncertain area corresponding to the third spacecraft; When the third spacecraft receives the outgoing light beam corresponding to the second side movable optical component of the second spacecraft, the outgoing light beam corresponding to the second side movable optical component of the second spacecraft is used to correct the direction of the second side movable optical component of the third spacecraft, and a return light beam corresponding to the second side movable optical component of the third spacecraft is generated and transmitted to the second spacecraft; When the first spacecraft receives the outgoing light beam corresponding to the first side movable optical component of the second spacecraft, the outgoing light beam corresponding to the first side movable optical component of the second spacecraft is used to correct the direction of the first side movable optical component of the first spacecraft, and a return light beam corresponding to the first side movable optical component of the first spacecraft is generated and transmitted to the second spacecraft; When the second spacecraft receives the retroreflected light beam corresponding to the second side movable optical component of the third spacecraft and the retroreflected light beam corresponding to the first side movable optical component of the first spacecraft, control the first side movable optical component and the second side movable optical component of the second spacecraft to stop spatial scanning; Based on the return beam corresponding to the second side movable optical component of the third spacecraft and the return beam corresponding to the first side movable optical component of the first spacecraft, alternately use the spacecraft attitude control system and the first side movable optical component and the second side movable optical component of the second spacecraft to iteratively correct the attitude of the second spacecraft, the adjustment direction of the first side movable optical component and the adjustment direction of the second side movable optical component, so as to generate a bidirectional intersatellite laser link between the second spacecraft and the first spacecraft and a bidirectional intersatellite laser link between the second spacecraft and the third spacecraft; Based on the guidance law in the uncertainty region of the yaw-pitch coordinate system of the second side movable optical component corresponding to the first spacecraft, the orientation of the second side movable optical component of the first spacecraft is adjusted, the adjustment orientation of the second side movable optical component of the first spacecraft is determined, and an outgoing light beam corresponding to the second side movable optical component of the first spacecraft is generated; Based on the adjusted direction of the movable optical component on the second side of the first spacecraft, using the outgoing light beam corresponding to the movable optical component on the second side of the first spacecraft to perform spatial scanning on the uncertain area corresponding to the third spacecraft; When the third spacecraft receives the outgoing light beam corresponding to the second side movable optical component of the first spacecraft, the spacecraft attitude control system and the first side movable optical component and the second side movable optical component of the third spacecraft are alternately used to iteratively correct the attitude of the third spacecraft, the adjustment direction of the first side movable optical component, and the adjustment direction of the second side movable optical component, and a return light beam corresponding to the first side movable optical component and the second side movable optical component of the third spacecraft are generated and emitted to the first spacecraft; When the first spacecraft receives the return light beam corresponding to the first side movable optical component and the return light beam corresponding to the second side movable optical component of the third spacecraft, controlling the second side movable optical component of the first spacecraft to stop space scanning; Based on the reflected light beam corresponding to the first side movable optical component and the reflected light beam corresponding to the second side movable optical component of the third spacecraft, the spacecraft attitude control system and the first side movable optical component and the second side movable optical component of the first spacecraft are alternately used to iteratively correct the attitude of the first spacecraft, the direction of the first side movable optical component, and the adjusted direction of the second side movable optical component, and generate a bidirectional intersatellite laser link between the first spacecraft and the third spacecraft.

6. The space capture method of spacecraft bilateral intersatellite laser link according to claim 2, characterized in that: The method of using the one-sided intersatellite laser link space capture method and the pointing degree of freedom constraint method to capture the intersatellite laser link of the spacecraft group to generate multiple bidirectional intersatellite laser links includes: adjusting the orientation of the first side movable optical component of the second spacecraft based on the guidance law in the uncertainty region in the yaw-pitch coordinate system of the first side movable optical component corresponding to the second spacecraft, determining the adjusted orientation of the first side movable optical component of the second spacecraft, and generating an outgoing light beam; Based on the adjusted direction of the movable optical component on the first side of the second spacecraft, using the outgoing light beam to perform spatial scanning on the uncertain area corresponding to the third spacecraft; When the third spacecraft receives the outgoing light beam, the direction of the movable optical component on the second side of the third spacecraft is corrected based on the outgoing light beam, and a retroreflected light beam is generated and transmitted to the second spacecraft; When the second spacecraft receives the return beam, the movable optical component on the first side of the second spacecraft is controlled to stop space scanning, and the adjustment direction of the movable optical component on the first side of the second spacecraft is corrected by using the return beam, so as to generate a bidirectional intersatellite laser link between the second spacecraft and the third spacecraft; determining a pointing error of a second side movable optical assembly of the second spacecraft based on a corrected actual direction of an outgoing light beam emitted by the first side movable optical assembly of the second spacecraft; Determine, according to the pointing error of the second side movable optical component of the second spacecraft, the guidance law of the second side movable optical component bilateral pointing angle corresponding to the second spacecraft in the uncertain region in the rolling coordinate system around the pointing of the first side movable optical component; Based on the guidance law in the uncertainty region in the rolling coordinate system around the pointing of the movable optical component on the first side of the second spacecraft and the bilateral pointing angle of the movable optical component on the second side of the second spacecraft, the pointing of the movable optical component on the second side of the second spacecraft is adjusted, the adjusted pointing of the movable optical component on the second side of the second spacecraft is determined, and an outgoing light beam is generated; Based on the adjusted direction of the movable optical component on the second side of the second spacecraft, using the outgoing light beam to perform spatial scanning on the uncertain area corresponding to the first spacecraft; When the first spacecraft receives the outgoing light beam, the pointing direction of the movable optical component on the first side of the first spacecraft is corrected based on the outgoing light beam, and a retroreflected light beam is generated and transmitted to the second spacecraft; When the second spacecraft receives the return beam, the second side movable optical component of the second spacecraft is controlled to stop space scanning, and the adjustment direction of the second side movable optical component of the second spacecraft is corrected by using the return beam, so as to generate a bidirectional intersatellite laser link between the second spacecraft and the first spacecraft; determining a pointing error of a second side movable optical assembly of the first spacecraft based on a corrected actual direction of an outgoing light beam emitted by the first side movable optical assembly of the first spacecraft; Determine, according to the pointing error of the movable optical component on the second side of the first spacecraft, the guidance law of the bilateral pointing angle of the movable optical component on the second side corresponding to the first spacecraft in the uncertain region in the rolling coordinate system around the pointing of the movable optical component on the first side; Based on the guidance law in the uncertainty region in the rolling coordinate system around the pointing of the second side movable optical component corresponding to the first spacecraft, which is the bilateral pointing angle of the second side movable optical component, the pointing of the second side movable optical component of the first spacecraft is adjusted, the adjustment pointing of the second side movable optical component of the first spacecraft is determined, and an outgoing light beam is generated; Based on the adjusted direction of the movable optical component on the second side of the first spacecraft, using the outgoing light beam to perform spatial scanning on the uncertain area corresponding to the third spacecraft; When the third spacecraft receives the outgoing light beam, the third spacecraft corrects the direction of the movable optical component on the first side of the third spacecraft based on the outgoing light beam, and generates a retroreflected light beam to be transmitted to the first spacecraft; When the first spacecraft receives the return beam, the movable optical component on the second side of the first spacecraft is controlled to stop spatial scanning, and the return beam is used to correct the adjustment direction of the movable optical component on the second side of the first spacecraft, thereby generating a bidirectional intersatellite laser link between the first spacecraft and the third spacecraft.

7. A spacecraft dual-side intersatellite laser link space capture system, characterized in that: Applied to a spacecraft assembly, the system comprises: An acquisition module, used for acquiring key indicator data of a capture task, and determining whether the key indicator data of the capture task satisfies a preset first capture condition, a preset second capture condition, or a preset third capture condition; A first capture module is used to, when the key indicator data of the capture mission meets the preset first capture condition, perform intersatellite laser link capture on the spacecraft group using a unilateral intersatellite laser link space capture method and a guidance law coordinate system conversion method to generate multiple bidirectional intersatellite laser links; A second capture module is used to capture the spacecraft group through an intersatellite laser link by using a spacecraft attitude control system and a movable optical component iterative pointing adjustment method when the capture mission key indicator data meets the preset second capture condition, so as to generate multiple bidirectional intersatellite laser links; The third capture module is used to perform intersatellite laser link capture on the spacecraft group by using the unilateral intersatellite laser link space capture method and the pointing degree of freedom constraint method one by one when the key indicator data of the capture mission meets the preset third capture condition, so as to generate multiple bidirectional intersatellite laser links.

8. A computer device, characterized in that: It comprises a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the space capture method of the spacecraft bilateral intersatellite laser link as described in any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed, the spacecraft bilateral inter-satellite laser link space capture method as described in any one of claims 1 to 6 is implemented.

10. A computer program product, characterized in that The computer program product comprises a computer program stored on a non-transitory computer-readable storage medium, wherein the computer program comprises program instructions, wherein when the program instructions are executed by a computer, the computer is caused to execute the spacecraft bilateral intersatellite laser link space capture method as described in any one of claims 1-6.

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