Frequency spectrum autonomous monitoring method and system for low-orbit giant constellation, and storage medium

Abstract

The invention discloses a spectrum autonomous monitoring method and system for a low-orbit giant constellation, and a storage medium, and relates to the field of electromagnetic spectrum monitoring and satellite signal tracking and identification. The invention aims to solve the problems that an existing spectrum autonomous monitoring scheme cannot realize automatic monitoring, is large in workload and high in repeatability and has data omission when coping with a complex satellite environment, is difficult to realize optimal monitoring planning when coping with a complex multi-satellite scene and cannot cope with the requirements of long-term outdoor unattended monitoring tasks and the like. According to the method, automation is realized from three angles of satellite parameter updating, satellite overhead parameter calculation and spectrum detection task planning, and parameters such as satellite overhead time, overhead angle and overhead direction are calculated automatically based on satellite parameters, a target area and monitoring time. A satellite monitoring task in a monitoring time period is autonomously planned according to the satellite selection strategy and the monitoring threshold angle, a satellite set for monitoring is determined, and the satellite monitoring task is completed.

Description

Technical Field

[0001] The present invention relates to the fields of electromagnetic spectrum monitoring and satellite signal tracking and identification, and mainly relates to a spectrum autonomous monitoring method for low-earth orbit (LEO) mega constellations. Background Art

[0002] Under the influence of factors such as the intensifying global satellite competition, the timeliness limit of ITU declarations, and the continuous decline of rocket launch costs and satellite manufacturing costs, the number of LEO satellites has increased explosively, making the spectrum monitoring of LEO mega constellations increasingly difficult. Due to the characteristics of LEO satellites, such as high flight speed and short transit time, within a certain period of time, the monitored satellites have problems such as inconsistent overflight times and angles. Therefore, the existing spectrum autonomous monitoring solutions inevitably have the following problems when dealing with complex satellite environments:

[0003] (1) The current monitoring methods cannot achieve automated monitoring. When dealing with monitoring tasks, the existing solutions require human participation in satellite selection and the formulation of monitoring task plans, as specifically shown below:

[0004] 1) The existing solutions require manual simulation and selection of satellite ephemerides, which is labor-intensive, highly repetitive, and there are cases of data omission;

[0005] 2) The existing solutions require operators to pre-plan monitoring tasks according to the actual satellite overflight situation obtained from simulation. When dealing with complex multi-satellite scenarios, it is difficult to achieve an optimal monitoring plan.

[0006] (2) The current monitoring methods lack monitoring convenience. The existing solutions require manual adjustment of monitoring tasks. In outdoor experiments, special personnel are required to be on duty for updating and switching satellite monitoring tasks, and they cannot meet the requirements of long-term outdoor unattended monitoring tasks.

[0007] In the prior art regarding the monitoring or risk analysis of low-earth orbit (LEO) mega-constellation satellites, the difficulties and reasons for spectrum monitoring of LEO mega-constellations have not been proposed. For example, the prior art with the document number CN115688996A discloses a method, system, and storage medium for analyzing the collision risk of a LEO mega-constellation. Among them, the method for analyzing the collision risk of the LEO mega-constellation at least includes one of the following: performing short-term collision risk analysis and long-term collision risk analysis on the LEO mega-constellation; the short-term collision risk analysis includes calculating the collision probability of LEO mega-constellation satellites in the short term, and its calculation process includes: analyzing the propagation curve of the orbital prediction error of space targets, preliminarily screening dangerous space targets, analyzing the approach of space targets, and calculating the intersection collision probability of two space targets; the long-term collision risk analysis includes calculating the average collision probability of the constellation during its lifespan, and its calculation process includes: simplifying the model, calculating the space target density, calculating the space target decay rate, calculating the number of collision disintegration debris, and calculating the average collision probability of the constellation during its lifespan. It can analyze the collision risks of LEO mega-constellations in the short term and long term to ensure the safety of the constellation.

[0008] Therefore, it is particularly important to propose an autonomous planning of satellite monitoring tasks within the monitoring time period based on relevant parameters, selection strategies, and monitoring threshold angles. Summary of the Invention

[0009] The technical problem to be solved by the present invention is:

[0010] The present invention overcomes the shortcomings in the prior art and proposes a method for autonomous spectrum monitoring of LEO mega-constellations. This method realizes automation from three aspects: "satellite parameter update - satellite overpass parameter calculation - spectrum detection task planning". Based on satellite parameters, target areas, and monitoring times, it autonomously calculates parameters such as satellite overpass times, overpass angles, and overpass directions, and autonomously plans satellite monitoring tasks within the monitoring time period according to the satellite selection strategy and monitoring threshold angle, determines the set of satellites for monitoring, and completes the satellite monitoring tasks.

[0011] The technical solution adopted by the present invention to solve the above technical problem is:

[0012] According to a method for autonomous spectrum monitoring of LEO mega-constellations provided by the present invention, it includes the following steps:

[0013] Step 1: Automatic ephemeris update: Configure the website address of the ephemeris website and the data credibility priority, and automatically download the latest ephemeris information data from multiple source websites to ensure that the ephemeris information in the database always remains up-to-date;

[0014] Step 2: Synchronization of Beidou information of the servo antenna: When the external field equipment is set up and the Beidou equipment is normally connected to the software (within the scope of the existing technology), the software will synchronize the Beidou position information of the servo antenna and update the position data of the monitoring location, including longitude, latitude, and altitude.

[0015] Step 3: Setting of monitoring task parameters: Set the necessary parameters of the monitoring task, including start time, end time, satellite name, etc., and generate the visible satellite parameters of the low-earth orbit giant constellation based on the satellite's visible state, including overpass time, overpass direction, overpass angle, etc., to complete the first data screening of the visible low-earth orbit satellite data.

[0016] Step 3.1: Read the ephemeris data of the monitored target satellite.

[0017] Step 3.2: Convert the corresponding ephemeris data from TLE data to longitude-latitude-altitude data at different times (from the start time to the end time) through the SDP4 / SGP4 model (SDP4 / SGP4 is a dedicated model, and the open-source code can be obtained from the existing technology).

[0018] Step 3.3: Calculate the visibility between the monitoring device and the satellite at different times based on the converted positions; the visibility calculation method is as follows

[0019] Calculate the distance D between the satellite and the monitoring device:

[0020]

[0021] In the above formula, x 1 , y 1 , z 1 are the position vectors of the satellite, and x 2 , y 2 , z 2 are the position vectors of the monitoring device;

[0022] The distance R of the satellite from the center of the earth 1 is: The distance R of the monitoring device from the center of the earth 2 is: The distance D of the satellite and the monitoring device to the horizon i :

[0023]

[0024] In the above formula, R e is the radius of the earth;

[0025] When the distance D between the satellite and the monitoring device is less than D 1 + D 2 , the satellite is visible from the earth station;

[0026] Step 3.4: Count the continuous visible time between the satellite and the monitoring device to obtain the overpass time (the last visible time T1 - the starting visible time T0), and analyze the movement direction during the overpass to obtain monitoring parameters such as the overpass direction and overpass angle.

[0027] Step 4: Generation of monitoring task plan: Based on the satellite parameters obtained in Step 3, according to the satellite selection strategy and the monitoring threshold angle, perform the second data screening on the low-earth orbit satellites, and automatically generate the task list and preprocessing file of the monitoring satellite plan within the monitoring time period;

[0028] Satellite selection strategy: Since there is time overlap in the overpass of different satellites, the satellite selection strategy can be divided into the "optimal monitoring quantity strategy" and the "complete cycle execution strategy" according to the execution situation of the monitoring tasks.

[0029] 1) Optimal monitoring quantity strategy: For multiple monitoring tasks with time overlap, the monitoring tasks will be executed in sequence according to the order of the monitoring start time. After the end of a certain monitoring task, the next monitoring task will be immediately executed;

[0030] 2) Complete cycle execution strategy: For multiple monitoring tasks with time overlap, the satellite selection strategy will ensure that the monitoring tasks of each satellite are executed completely. After the end of a certain monitoring task, the monitoring tasks with time overlap with this task will be skipped, and the next complete monitoring task will be executed.

[0031] Monitoring threshold angle: When the satellite passes overhead, the maximum angle between the satellite, the ground, and the antenna is called the monitoring included angle; when the monitoring angle is lower than the threshold, the satellite signal is easily blocked by obstacles such as buildings and mountains, affecting the quality of signal monitoring.

[0032] Step 5: Execution of the monitoring task plan: Execute the monitoring task according to the time period of the task in the task list, read the corresponding preprocessing analysis and perform time slicing to form fine-grained execution instructions, and send the instructions to control the servo to align with the satellite to achieve precise tracking of the satellite.

[0033] Step 5 means that the antenna can accurately align with the satellite according to the instructions to complete the precise tracking of the satellite; its accuracy is reflected in the previous steps: the accuracy of tracking is reflected in the accuracy of the antenna pointing instructions, and the accuracy of pointing comes from the accuracy of direction calculation, and the accuracy of direction calculation stems from the accuracy of the satellite ephemeris and the SGP4 / SDP4 model;

[0034] Step 6: Storage and display of spectrum monitoring data: When performing the satellite spectrum monitoring task, specify the control monitoring board to collect the monitoring spectrum information data, format the stream data and use multi-threading to store the data, and perform data storage and interface display.

[0035] The present invention has the following beneficial technical effects:

[0036] The technology proposed by the present invention effectively solves the problems existing in the existing spectrum autonomous monitoring solutions when dealing with complex satellite environments, such as the inability to achieve automated monitoring, large workload, high repetition rate, data omission, difficulty in achieving optimal monitoring planning when dealing with complex multi-satellite scenarios, and the inability to cope with the requirements of long-term outdoor unattended monitoring tasks. The method of the present invention realizes automation from three perspectives of "satellite parameter update - satellite over-the-horizon parameter calculation - spectrum detection task planning", autonomously calculates parameters such as satellite over-the-horizon time, over-the-horizon angle, and over-the-horizon direction based on satellite parameters, target area, and monitoring time, and autonomously plans satellite monitoring tasks within the monitoring time period according to the satellite selection strategy and monitoring threshold angle, determines the satellite set for monitoring, and completes the satellite monitoring tasks.

[0037] Compared with the prior art, the present invention has the following beneficial effects. This method realizes the automatic planning of monitoring tasks. The present invention autonomously completes the update of satellite ephemeris data and the calculation of satellite over-the-horizon situations; automatically completes the update of satellite ephemeris data in the local database according to the configured website, realizes satellite over-the-horizon simulation, and saves satellite over-the-horizon data. The present invention autonomously completes the planning of over-the-horizon satellite monitoring tasks within the monitoring time period. According to the set satellite selection strategy and monitoring angle threshold, a satellite set within the monitoring time period is constructed based on Beidou position, satellite parameters, and monitoring time, and the spectrum monitoring tasks are autonomously planned.

[0038] The method of the present invention can realize long-term outdoor unattended monitoring. In long-term outdoor monitoring tasks, the operator only needs to set the monitoring time period and relevant information of the monitoring target, and satellite spectrum monitoring and monitoring data storage can be realized without special personnel on duty. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 is the flowchart of the monitoring task execution in the present invention;

[0040] Figure 2 is a schematic diagram of a satellite selection strategy in the present invention;

[0041] Figure 3 Another schematic diagram of a satellite selection strategy in the present invention;

[0042] Figure 4 is a schematic diagram of the monitoring included angle in the present invention;

[0043] Figure 5 is the overall block diagram corresponding to the system of the present invention, Figure 5 Among them, the software processing module describes the processing flow of the algorithm proposed by the present invention from step 1 to step 5, and then issues the instructions formed in step 5 to the servo antenna, and the antenna feeds back the monitoring data to the software processing module corresponding to step 6. Detailed implementation mode

[0044] Detailed implementation mode 1: As Figures 1 to 5 shown, the spectrum autonomous monitoring method for low-earth orbit giant constellations of the present invention includes the following steps:

[0045] Step 1, ephemeris automatic update: Configure the website address of the ephemeris website and the data credibility priority, and automatically download the latest ephemeris information data from multiple source websites to ensure that the ephemeris information in the database always remains up-to-date;

[0046] The system developed by the method of the present invention can specifically download ephemeris data from the following websites: www.ucsusa.org, www.space-track.org, CelesTrak: EOP and Space Weather Data.

[0047] Step 2, Beidou information synchronization of the servo antenna: When the external field equipment is set up and the Beidou equipment is normally connected to the software (within the scope of the existing technology), the software will synchronize the Beidou position information of the servo antenna and update the position data of the monitoring location, including longitude, latitude and altitude;

[0048] Step 3, setting of monitoring task parameters: Set the necessary parameters of the monitoring task, including start time, end time, satellite name, etc., and generate the monitorable satellite parameters of the low-earth orbit giant constellation based on the monitorable state of the satellite, including overpass time, overpass direction, overpass angle, etc., to complete the first data screening of the monitorable low-earth orbit satellite data;

[0049] Step 3.1, read the ephemeris data of the monitored target satellite;

[0050] Step 3.2, convert the corresponding ephemeris data from TLE data to longitude-latitude-altitude data at different times (from the start time to the end time) through the SDP4 / SGP4 model (SDP4 / SGP4 is a dedicated model, and the open source code can be obtained from the existing technology);

[0051] Step 3.3, calculate the visibility between the monitoring device and the satellite at different times based on the converted position; The visibility calculation method is as follows

[0052] Calculate the distance D between the satellite and the monitoring device:

[0053]

[0054] In the above formula, x 1 , y 1 , z 1 is the position vector of the satellite, x 2 , y 2 , z 2is the position vector of the monitoring device;

[0055] The distance R of the satellite from the center of the earth 1 is: The distance R of the monitoring device from the center of the earth 2 is: The distance D of the satellite and the monitoring device to the horizon i :

[0056]

[0057] In the above formula, R e is the radius of the earth;

[0058] When the distance D between the satellite and the monitoring device is less than D 1 +D 2 the satellite and the earth station are visible;

[0059] Step 3.4: Statistically calculate the continuously visible time between the satellite and the monitoring device, obtain the overflight time (the last visible time T1 - the starting visible time T0), and analyze the movement direction during overflight to obtain monitoring parameters such as the overflight direction and overflight angle;

[0060] Step 4: Monitoring task plan generation: Based on the satellite parameters obtained in Step 3, according to the satellite selection strategy and the monitoring threshold angle, perform the second data screening on the low-earth orbit satellites, and automatically generate the task list and preprocessing file of the monitoring satellite plan within the monitoring time period;

[0061] Satellite selection strategy: Since there is time overlap in the overflight of different satellites, the satellite selection strategy can be divided into the "optimal monitoring quantity strategy" and the "complete cycle execution strategy" according to the execution situation of the monitoring task.

[0062] 1) Optimal monitoring quantity strategy: For multiple monitoring tasks with time overlap, the monitoring tasks will be executed in sequence according to the order of the monitoring start time. After the completion of a certain monitoring task, the next monitoring task will be immediately executed;

[0063] 2) Complete cycle execution strategy: For multiple monitoring tasks with time overlap, the satellite selection strategy will ensure that the monitoring tasks of each satellite are completely executed. After the completion of a certain monitoring task, the monitoring tasks with time overlap with this task will be skipped, and the next complete monitoring task will be executed.

[0064] Monitoring threshold angle: When the satellite overflies, the maximum angle between the satellite and the ground and the antenna is called the monitoring angle; when the monitoring angle is lower than the threshold, the satellite signal is easily blocked by obstacles such as buildings and mountains, affecting the quality of signal monitoring.

[0065] Step 5: Monitor the execution of the task plan: Execute the monitoring task according to the time period of the task in the task list, read the corresponding preprocessing analysis and perform time slicing to form fine-grained execution instructions, and issue instructions to control the servo to align with the satellite to achieve precise tracking of the satellite.

[0066] Step 5 means that the antenna can accurately align with the satellite according to the instructions to complete the precise tracking of the satellite; its accuracy is reflected in the previous steps: the accuracy of tracking is reflected in the accuracy of the antenna pointing instructions, and the accuracy of pointing comes from the accuracy of direction calculation, and the accuracy of direction calculation stems from the accuracy of the satellite ephemeris and the accuracy of the SGP4 / SDP4 model;

[0067] Step 6: Storage and display of spectrum monitoring data: When performing the satellite spectrum monitoring task, specify the control monitoring board to collect the monitoring spectrum information data, format the stream data and use multi-threading to store the data, and perform data storage and interface display.

[0068] To better understand the present invention, the following further describes the content of the present invention in conjunction with the attached Figures 1-5 and examples.

[0069] Example 1: The method for autonomous spectrum monitoring of a giant low-Earth orbit constellation proposed in this example can complete the screening of overpassing satellites and the planning of monitoring tasks according to requirements such as the type of monitoring satellite and monitoring time. Taking the Starlink constellation satellite as an example, the steps are as follows:

[0070] S1. Set the monitoring target type of this time to Starlink. The software (the corresponding Figure 5 software processing module, which is the same software) automatically obtains the latest Starlink ephemeris data from a multi-source ephemeris website and updates the ephemeris information in the local database according to the reliable priority of the data;

[0071] S2. Complete the erection of the experimental equipment. The software connects to the Beidou positioning device and automatically updates the longitude, latitude and altitude information of the current monitoring position to the software system for subsequent calculation of satellite overpass parameters;

[0072] S3. Set the start time and end time of the monitoring task, traverse the satellite list, and judge the satellite overpass situation within the monitoring time range through multi-threaded calculation, including overpass time, overpass angle, satellite running direction, etc., and form a set of satellites that can be monitored based on the monitoring requirements to achieve the first screening of data;

[0073] S4. Sort the monitorable satellite tasks according to the satellite overflight time, perform a secondary screening on the set of monitorable satellites based on the monitoring threshold angle, remove the overflight satellites with the maximum monitoring angle lower than the threshold angle, plan the monitoring tasks according to the satellite selection strategy, generate the final monitoring task list, and preprocess the task items to form a preprocessing file of the satellite position and the servo antenna angle at the corresponding moment;

[0074] S5. Execute the monitoring tasks in sequence according to the time slices of the generated monitoring task list, read the corresponding preprocessing file and perform time slicing to form fine-grained execution instructions, and control the servo antenna to achieve precise tracking of the satellite;

[0075] S6. When executing the satellite tracking task, simultaneously issue commands to the specified control board to collect monitoring spectrum information data, format the stream data and store the data using multi-threading, and draw a spectrum diagram for real-time display according to fixed time intervals for sampling.

[0076] Embodiment:

[0077] As Figure 1 shown, the process of autonomous spectrum monitoring of a low-earth orbit giant constellation by the software system developed based on the technical solution of the present invention is as follows:

[0078] First, perform system initialization, and then sequentially synchronize Beidou information and update longitude, latitude and altitude; set task parameters and select a satellite list; traverse the satellite list to obtain the tle data of the satellites;

[0079] After traversing the satellite list to obtain the tle data of the satellites, for a single satellite, calculate the pitch angle per second within the range from the start time to the end time, and then determine whether the pitch angle is greater than or equal to the minimum angle. If so, record the current time, azimuth angle, antenna elevation angle and other information in a file, and update the recorded maximum angle; otherwise, calculate the pitch angle per second within the range from the start time to the end time until the pitch angle is greater than or equal to the minimum angle;

[0080] After recording the current time, azimuth angle, antenna elevation angle and other information in a file and updating the recorded maximum angle, continue to determine whether the antenna pitch angle is less than the minimum angle. If not, stop writing to the file and plan the pre-stored file;

[0081] If so, then determine whether the maximum monitoring angle is less than the threshold angle. If not, delete the file and plan the pre-stored file; if so, the calculation of a single satellite is completed, and the calculation of the next satellite starts;

[0082] At the same time, form a satellite alignment list that meets the alignment conditions from the tle data of the satellites, and then sort it according to the start time. According to the satellite selection strategy: the optimal monitoring quantity strategy and the complete cycle execution strategy, and then give the monitoring tasks and issue them for execution.

[0083] It has been verified that the method proposed by the present invention solves the technical problems proposed by the present invention. The method of the present invention has been applied in practice, verifying the claimed technical effects and practicality of the present invention.

[0084] The method of the present invention has been verified by simulation experiments and practical applications, verifying the claimed technical effects of the present invention.

[0085] The algorithm (method) proposed by the present invention is the underlying technical core of the present invention, and various products can be derived based on the algorithm.

[0086] Based on the algorithm (method) proposed by the present invention, a spectrum autonomous monitoring system for low-earth orbit mega-constellations is developed using a programming language. The system has program modules corresponding to the steps of the above technical solution, and executes the steps in the above-mentioned spectrum autonomous monitoring method for low-earth orbit mega-constellations when running.

[0087] The computer program of the developed system (software) is stored on a computer-readable storage medium. The computer program is configured to implement the steps of the above-mentioned spectrum autonomous monitoring method for low-earth orbit mega-constellations when called by a processor. That is, the present invention is materialized on a carrier to become a computer program product.

[0088] A spectrum autonomous monitoring device for low-earth orbit mega-constellations, the device includes at least one processor, and a memory communicatively connected to the at least one processor, wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the above-mentioned spectrum autonomous monitoring method for low-earth orbit mega-constellations, realizing spectrum autonomous monitoring for low-earth orbit mega-constellations.

[0089] Various embodiments of the systems and technologies described herein can be implemented in digital electronic circuit systems, integrated circuit systems, dedicated ASICs (application specific integrated circuits), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: implemented in one or more computer programs, the one or more computer programs can be executed and / or interpreted on a programmable system including at least one programmable processor, the programmable processor can be a dedicated or general programmable processor, and can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit the data and instructions to the storage system, the at least one input device, and the at least one output device.

[0090] The computing procedures (also referred to as programs, software, software applications, or code) in the present invention include machine instructions for a programmable processor, and these computing procedures can be implemented using high-level procedures and / or object-oriented programming languages, and / or assembly / machine languages. As used in the present invention, the terms "machine-readable medium" and "computer-readable medium" refer to any computer program product, device, and / or apparatus (e.g., magnetic disks, optical disks, memories, programmable logic device PLD) for providing machine instructions and / or data to a programmable processor, including a machine-readable medium that receives machine instructions as a machine-readable signal. The term "machine-readable signal" refers to any signal for providing machine instructions and / or data to a programmable processor.

[0091] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in the present application can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solutions disclosed in the present application can be achieved, and all are within the protection scope of the present invention.

Claims

1. A spectrum autonomous monitoring method for a low-orbit giant constellation, characterized in that: The implementation process of the method is: Step 1: Automatic update of ephemeris: configure the URL of the ephemeris website and the data credibility priority, automatically download the latest ephemeris information data from multiple source websites, and ensure that the ephemeris information in the database is always kept up to date; Step 2: Synchronize the Beidou information of the servo antenna: When the field equipment is set up and the Beidou equipment is connected to the software normally, the software will synchronize the Beidou position information of the servo antenna and update the location data of the monitoring site, including longitude, latitude and altitude; Step 3: Setting monitoring task parameters: Set the necessary parameters of the monitoring task, including the start time, end time, and satellite name, etc. Generate the parameters of the low-orbit giant constellation satellites that can be monitored based on the satellite's monitorable status, including the time, direction, and angle of the overpass, etc., and complete the first data screening of the low-orbit satellite data that can be monitored; Step 4: Generate monitoring mission plan: Based on the satellite parameters obtained in step 3, according to the satellite selection strategy and monitoring threshold angle, implement the second data screening of low-orbit satellites, and automatically generate the task list and preprocessing file of the monitoring satellite plan within the monitoring period; Step 5: Execute the monitoring task plan: Execute the monitoring task according to the time period of the task in the task list, read the corresponding pre-processing analysis and perform time segmentation to form fine-grained execution instructions. Send instructions to control the servo to align with the satellite to achieve accurate tracking of the satellite; Step 6. Storage and display of spectrum monitoring data: When executing the satellite spectrum monitoring task, specify the control monitoring board to collect the monitoring spectrum information data, format the stream data and use multi-threading to store the data, and perform data storage and interface display.

2. The spectrum autonomous monitoring method for low-orbit giant constellations according to claim 1, characterized in that: The specific implementation process in step 3 is: Step 3.1, read the ephemeris data of the monitoring target satellite; Step 3.2, convert the corresponding ephemeris data from TLE data to latitude, longitude and altitude data at different times (from the start time to the end time of monitoring) through the SDP4 / SGP4 model (SDP4 / SGP4 is a dedicated model, and the open source code can be obtained from the prior art); Step 3.3: Calculate the visibility between the monitoring device and the satellite at different times based on the converted position; the visibility calculation method is as follows: Calculate the distance D between the satellite and the monitoring device: In the above formula, x1, y1, z1 are the position vectors of the satellite, and x2, y2, z2 are the position vectors of the monitoring equipment; The distance R1 from the satellite to the center of the earth is: The distance R2 between the monitoring equipment and the center of the earth is: The distance D from the satellite and monitoring equipment to the horizon i : In the above formula, R e is the radius of the Earth; When the distance D between the satellite and the monitoring equipment is less than D1+D2, the satellite and the earth station are visible; Step 3.4: Count the continuous visible time between the satellite and the monitoring equipment to obtain the overpass time (last visible time T1-start visible time T0), and analyze the movement direction when passing the top to obtain monitoring parameters such as the overpass direction and overpass angle.

3. The spectrum autonomous monitoring method for a low-orbit giant constellation according to claim 1 or 2, characterized in that: In step 4, Satellite selection strategy: Since there is overlap in the time when different satellites pass overhead, the satellite selection strategy can be divided into "optimal monitoring quantity strategy" and "full cycle execution strategy" according to the execution of the monitoring task. 1) Optimal strategy for monitoring quantity: For multiple monitoring tasks that overlap in time, the monitoring tasks will be executed in the order of the monitoring start time. After a monitoring task is completed, the next monitoring task will be executed immediately; 2) Complete cycle execution strategy: For multiple monitoring tasks that overlap in time, the satellite selection strategy will ensure that the monitoring task of each satellite is fully executed. After a monitoring task is completed, the monitoring task that overlaps with the task will be skipped and the next complete monitoring task will be executed.

4. The spectrum autonomous monitoring method for low-orbit giant constellations according to claim 1, characterized in that: In step 4, the monitoring threshold angle is specifically: when the satellite passes overhead, the maximum angle between the ground and the antenna is called the monitoring angle; when the monitoring angle is lower than the threshold, the satellite signal is easily blocked by obstacles such as buildings and mountains, affecting the quality of signal monitoring.

5. The spectrum autonomous monitoring method for low-orbit giant constellations according to claim 4, characterized in that: Step 5 is used to enable the antenna to accurately align with the satellite according to the instructions and complete accurate tracking of the satellite.

6. A spectrum autonomous monitoring method and system for low-orbit giant constellations, characterized by: The system has a program module corresponding to the steps of any one of claims 1 to 5 above, and executes the steps in the method for autonomous spectrum monitoring for a low-orbit giant constellation when running.

7. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and the computer program is configured to implement the steps of a spectrum autonomous monitoring method for a low-orbit giant constellation according to any one of claims 1 to 5 when called by a processor.

8. A spectrum autonomous monitoring device for a low-orbit giant constellation, the device comprising at least one processor and a memory in communication with the at least one processor, wherein: The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the above-mentioned method of autonomous spectrum monitoring for low-orbit giant constellations to complete the satellite monitoring task.

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