Distributed multi-curved-surface array full-space beam continuous control method

Abstract

The application discloses a kind of distributed multi-curved surface array full airspace beam continuous control methods, comprising: setting satellite TT&C relay trigger event, trigger according to including satellite and TT&C station uplink and downlink state monitoring, orbit control instruction and pre-configured trigger instruction of switching condition;With satellite TT&C relay as the control core of random access node, utilize curved surface array tracking receiver state parameters and the partial satellite orbit information cached, based on TT&C relay trigger event, adaptively trigger curved surface array inter-beam switching process, ensure the continuous tracking of curved surface array to satellite.The present application can realize low-latency and low TT&C resource overhead distributed multi-curved surface array full airspace beam continuous control, support the low-latency TT&C relay demand of satellite in future large-scale constellation, realize on-demand switching without pre-planning, real-time capacity optimization, improve the adaptability to station network resources and the dynamic change of satellite motion state.

Description

Technical Field

[0001] This invention relates to the field of satellite telemetry, tracking and command technology, and in particular to a method for continuous beam control of a distributed multi-curved array across the entire airspace. Background Technology

[0002] In recent years, the development of low-Earth orbit (LEO) satellites has received widespread attention. The advantages of LEO satellites include wide coverage, low transmission latency, low link loss, flexible launch, low manufacturing cost, and safe and reliable operation. SpaceX's Starlink is the most famous example. This project plans to launch approximately 12,000 satellites to provide high-speed internet service covering the globe. In addition, China is also actively promoting LEO satellite projects, such as the Qianfan constellation, which will consist of approximately 15,000 commercial LEO satellites.

[0003] In traditional telemetry, tracking, and command (TT&C) systems, the system mainly comprises satellites, TT&C stations, and a TT&C center. TT&C tasks are centrally planned by the TT&C center based on satellite orbit information and uniformly distributed to each TT&C station. The distributed scheduling plan includes necessary relay information such as relay times between TT&C stations and satellite orbit information. In recent years, to support increasingly complex TT&C tasks and enable on-demand satellite access, on-demand access nodes have been introduced into the TT&C system, initially achieving separation of the TT&C system's control plane. On-demand access nodes have data interaction channels with satellites, TT&C stations, and the TT&C center to achieve efficient interaction of control signaling. Furthermore, to improve the efficiency and flexibility of TT&C resource utilization, support elastic capacity scaling, and adapt to dynamic changes in different business scenarios, TT&C stations are gradually adopting cloud architectures to virtualize TT&C functions. Physical baseband resources are virtualized into a TT&C baseband resource pool. Even so, the traditional TT&C system still struggles to adapt to the new TT&C landscape brought about by the increasing prevalence of low-Earth orbit commercial constellations.

[0004] In other words, the explosive growth in the number of low-Earth orbit satellites poses a huge challenge to the current satellite tracking and control system based on pre-planning. This is mainly manifested in the following ways: (1) The rapid increase in the number of satellites leads to a significant increase in the complexity of solving the optimization problem corresponding to pre-planning, and a decrease in the timeliness of pre-planning; (2) Satellite scheduling based on pre-planning cannot adapt to the dynamic changes in constellation topology and station network resources, and the emergency response to satellite orbit changes is not timely; (3) Pre-planning usually requires the relay tracking and control station to adjust the tracking and control beam to the designated position several minutes in advance, resulting in a long waiting time and a waste of tracking and control resources; (4) During the relay process, the tracking receiver has a large loop lock time, which increases the actual interruption time of tracking and control services. Summary of the Invention

[0005] To address the issues of decreased timeliness, long service interruptions, and inability to adapt to dynamic changes in constellation topology and station network resources caused by the explosive growth in the scale of low-Earth orbit satellite constellations, this invention proposes a distributed multi-curved array full-space domain beam continuous control method. This method enables low-latency and low-telemetry resource overhead distributed multi-curved array full-space domain beam continuous control, supporting the low-latency telemetry and control relay requirements of future large-scale constellations. It achieves on-demand switching without pre-planning, real-time capability optimization, and improved adaptability to dynamic changes in station network resources and satellite motion states.

[0006] The technical solution adopted in this invention is as follows:

[0007] A method for continuous beam control of a distributed multi-curved array across the entire spatial domain includes:

[0008] Set the triggering event for satellite telemetry and control relay. The triggering basis includes the uplink and downlink status monitoring of the satellite and the telemetry and control station, orbit control commands, and pre-configured switching condition triggering commands.

[0009] Using the random access node as the control core of the satellite telemetry and control relay, the curved array tracks the receiver status parameters and cached partial satellite orbit information, and adaptively triggers the beam switching process between curved arrays based on the telemetry and control relay trigger event to ensure continuous tracking of the satellite by the curved array.

[0010] Furthermore, the method of using the random access node as the control core of the satellite telemetry and control relay, utilizing the status parameters of the surface array tracking receiver and the cached partial satellite orbit information, and adaptively triggering the beam switching process between surface arrays based on the telemetry and control relay triggering event, includes the following steps:

[0011] Step 1: Curved array A performs downlink telemetry and control link monitoring and packages the received satellite uplink telemetry and control link monitoring information together and sends it to the random access node;

[0012] Step 2: The random access node performs local relay decision-making based on the received link status information and dynamically selects the best relay surface array B;

[0013] Step 3: The access node sends a user data transmission abort command to the telemetry and control baseband resource pool, and the telemetry and control baseband resource pool immediately stops and caches the user data;

[0014] Step 4: Access nodes send relay configuration information as needed;

[0015] Step 5: Surface array B sends a tracking status query message to surface array A;

[0016] Step 6: Surface array A sends its own tracking receiver status parameters and cached satellite orbit information to surface array B through a tracking status query response message;

[0017] Step 7: The curved array B configures its own tracking receiver status and beam pointing according to the received tracking status query response message;

[0018] Step 8: After establishing the uplink and downlink between the satellite and the curved array B at the predetermined relay time, the satellite sends a link locking message to the curved array B to indicate that the relay is complete.

[0019] Step 9: Curved surface array B sends a relay success confirmation message to the random access node;

[0020] Step 10: Any access node initiates a route switching request to the telemetry and control baseband resource pool;

[0021] Step 11: Perform a route switch between the random access node and the curved array B;

[0022] Step 12: The measurement and control baseband resource pool sends a route switching confirmation message to the random access node and the curved array B, indicating that the route switching has been completed;

[0023] Step 13: Any access node sends a telemetry and control link release command to the curved array A;

[0024] Step 14: After completing the release of the telemetry and control link, the curved surface array A sends a telemetry and control link release message to the random access node.

[0025] Furthermore, in step 1, in order to support the cloudification of the baseband physical resources of the telemetry and control station and ensure the continuity of signal phase between different curved array antennas, the telemetry and control center schedules its subordinate telemetry and control stations to complete the phase calibration of the subordinate curved arrays during their off-peak hours. The curved arrays save the phase calibration results between themselves and the curved arrays that are adjacent to them.

[0026] Furthermore, the phase calibration method between different curved arrays includes: the telemetry and control center scheduling two different curved arrays belonging to two telemetry and control stations to receive the same satellite signal, and then performing subsequent curved array phase calibration based on the phase difference of the signals received by the two curved arrays.

[0027] Furthermore, in step 4, there are two scenarios when the random access node sends out relay configuration information:

[0028] Curved array B is managed by random access node A: random access node A sends relay configuration information to the satellite, curved array A and curved array B respectively;

[0029] Curved array B is not under the jurisdiction of random access node A: If curved array B is under the jurisdiction of random access node B, then the relay configuration information is issued by random access node B. That is, random access node B issues relay configuration information to random access node A and curved array B, and random access node A forwards the received relay configuration information to the satellite and curved array A.

[0030] Furthermore, the relay configuration information includes the necessary information for the relay, wherein the satellite's relay configuration information includes frequency point, spreading code, modulation and coding parameters, and relay time; the relay configuration information of the satellite, surface array A, and surface array B may not be the same for each other.

[0031] Furthermore, in step 5, the tracking status query message sent by surface array B to surface array A includes partial satellite orbit information cached by surface array A and tracking receiver status parameters of surface array A, which are used to assist surface array B in achieving rapid acquisition and tracking of satellites.

[0032] Furthermore, steps 5 and 6 support two interaction methods:

[0033] Method 1: Steps 5 and 6 are executed once between surface arrays A and B; based on the tracking status response message obtained in step 6, surface array B calculates the status and beam direction of its own tracking receiver at the subsequent relay moment.

[0034] Method 2: The tracking status information exchange between surface arrays A and B in steps 5 and 6 is continuously executed; surface arrays A and B achieve tracking receiver status synchronization, realizing pre-tracking of the satellite by surface array B.

[0035] Furthermore, in step 12, there are two scenarios for the routing confirmation message being sent:

[0036] The curved array B is managed by the random access node A: the telemetry and control baseband resource pool sends a route switching confirmation message to the random access node A and the curved array B, indicating that the route switching has been completed;

[0037] Curved array B is not under the jurisdiction of random access node A: The telemetry and control baseband resource pool sends a route switching confirmation message to random access node A, random access node B and curved array B, indicating that the route switching has been completed.

[0038] Furthermore, in step 13, there are two scenarios when access node A issues a telemetry and control link release command:

[0039] Curved array B is managed by random access node A: Random access node A issues a telemetry and control link release command to curved array A;

[0040] The curved array B is not under the jurisdiction of the random access node A: the random access node A needs to release the random access link with the satellite before issuing the telemetry and control link release command to the curved array A.

[0041] The beneficial effects of this invention are as follows:

[0042] To meet the real-time tracking and control requirements of large-scale constellations, this invention proposes a distributed multi-curved array full-spaceband beam continuity control method, which can support the low-latency tracking and control relay requirements of future large-scale constellation satellites. Specifically, this invention defines tracking and control relay triggering events, including uplink and downlink status monitoring reports between the satellite and the tracking and control station, orbit control reports, and pre-configured switching condition triggering reports. When a satellite exceeds the service range of curved array A or the satellite-to-ground link with curved array A deteriorates sharply, the beam switching process between curved arrays can be adaptively triggered to ensure continuous tracking of the satellite by the curved array. To improve the robustness of beam relay, both amplitude hysteresis and time hysteresis parameters are set for each access node. The hysteresis parameters are flexibly configured through network optimization. In contrast, switching events caused by orbit control reports and pre-configured switching triggering reports should be given higher switching priority.

[0043] Furthermore, the main time overhead of this invention depends on the speed of uplink and downlink establishment between the curved array B and the satellite in steps 6 and 7. Currently, the time overhead for beam acquisition and signal tracking between the curved array and the satellite is in the millisecond range. Therefore, compared to the waiting time of tens of seconds or even minutes in traditional pre-planned telemetry and control relay schemes, this invention can achieve millisecond-level adaptive telemetry and control relay, significantly reducing time overhead and telemetry and control redundancy resource overhead. Attached Figure Description

[0044] Figure 1 This is a schematic diagram of satellite telemetry and control relay under the single random access node condition in Example 1;

[0045] Figure 2 Example 1 shows the satellite telemetry and control relay protocol flow under the condition of a single random access node;

[0046] Figure 3 This is a schematic diagram of satellite telemetry and control relay under the condition of dual random access nodes in Example 2;

[0047] Figure 4 Example 2 illustrates the satellite telemetry and control relay protocol flow under dual random access node conditions. Detailed Implementation

[0048] To provide a clearer understanding of the technical features, objectives, and effects of the present invention, specific embodiments are now described. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention; that is, the described embodiments are only a part of the embodiments of the invention, not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0049] Example 1

[0050] Currently, ultra-large-scale curved arrays have been introduced into the new generation of telemetry, tracking, and command (TT&C) systems. Due to their full-space coverage array configuration and the use of multi-beamforming technology, curved array antennas can achieve simultaneous tracking and control of multiple targets across the entire space using a single phased array antenna. Their flexible beamforming capability allows for microsecond-level adjustment of the beam pointing in any space. When multiple curved arrays are deployed in a distributed manner to provide TT&C services, this characteristic creates highly favorable conditions for continuous beam control during relay processes at TT&C stations.

[0051] Based on this, this embodiment provides a distributed multi-curved array full-space beam continuity control method, which can support the low-latency telemetry and control relay requirements of satellites in future large-scale constellations. The method includes:

[0052] Set the triggering event for satellite telemetry and control relay. The triggering basis includes the uplink and downlink status monitoring of the satellite and the telemetry and control station, orbit control commands, and pre-configured switching condition triggering commands.

[0053] Using the random access node as the control core of the satellite telemetry and control relay, the curved array tracks the receiver status parameters and cached partial satellite orbit information, and adaptively triggers the beam switching process between curved arrays based on the telemetry and control relay trigger event to ensure continuous tracking of the satellite by the curved array.

[0054] Specifically, this embodiment designs a satellite real-time telemetry and control relay method under the condition of a single random access node based on the following satellite telemetry and control system.

[0055] like Figure 1 As shown, the satellite payload carries a telemetry, tracking, and command (TT&C) transponder and an access terminal. Access node A has terrestrial fiber optic connections with its managed curved arrays A and B; curved arrays A and B also have terrestrial fiber optic connections; and curved arrays A and B, along with access node A, are all connected to the TT&C baseband resource pool via fiber optics. The satellite antenna is an omnidirectional antenna, allowing only one connection to a curved array at a time. The ground control station also uses a curved array antenna.

[0056] This embodiment primarily considers the telemetry and control relay process triggered by channel quality testing. The orbit control report and the pre-configured switching condition trigger report directly proceed to the telemetry and control relay decision-making stage in step 2. To ensure signal phase continuity between different surface arrays, the telemetry and control center schedules its assigned surface arrays to complete phase calibration during idle periods. The surface arrays store the phase calibration results between themselves and other adjacent surface arrays. The phase calibration between the aforementioned different surface array antennas can be performed as follows: the telemetry and control center schedules surface arrays A and B to receive the same satellite signals. Subsequent high-precision phase calibration between surface array antennas is achieved based on the phase difference between the signals received by surface arrays A and B.

[0057] like Figure 2 As shown, the method in this embodiment includes the following steps:

[0058] Step 1: The curved array A performs uplink telemetry and control link monitoring and packages the received satellite downlink telemetry and control link monitoring information to the random access node A. In addition, satellite orbit control reports and pre-configured handover conditions can trigger telemetry and control relay request events. It is worth noting that channel quality measurements mainly include, but are not limited to, received signal power (RSRP), received signal quality (RSRQ), and signal-to-interference-plus-noise ratio (SINR).

[0059] Step 2: The random access node A, based on the received measurement / track control reports / pre-configured handover trigger reports, performs a local relay decision and dynamically selects the optimal relay surface array B. To improve handover robustness, the random access node A simultaneously sets two hysteresis parameters: measurement result amplitude hysteresis and time hysteresis. These hysteresis parameters are flexibly configured through network optimization. In contrast, handover events triggered by track control reports and pre-configured handover trigger reports should be given higher handover priority.

[0060] Step 3: Access node A sends a user data transmission abort command to the telemetry and control baseband resource pool. Upon receiving this information, the telemetry and control baseband resource pool immediately aborts and caches the user data.

[0061] Step 4: Access node A sends relay configuration information to the satellite, surface array A, and surface array B respectively. The relay configuration information contains the necessary information for this telemetry and control relay. For example, the satellite's relay configuration information must include at least the frequency point, spreading code, modulation and coding parameters, and relay time.

[0062] Step 5: Surface array B sends a tracking status query message to surface array A. The tracking status query message needs to query at least the current status parameters of the tracking receiver of surface array A and the cached satellite orbit information (partial satellite orbits within a certain period of time, not the overall orbit information).

[0063] Step 6: Surface array A sends its own tracking receiver status parameters and cached satellite orbit information to surface array B through a tracking status query response message.

[0064] Step 7: The curved array B configures its own tracking receiver status and beam pointing according to the received tracking status query response message.

[0065] Step 8: At the agreed relay time, complete the beam acquisition and signal tracking between the satellite and the curved array B, and establish uplink and downlink links. Then, the satellite sends a link lock message to the curved array B to indicate that the relay is complete.

[0066] Step 9: The curved surface array B sends a relay success confirmation message to the random access node A, indicating that the relay has been completed.

[0067] Step 10: Access node A initiates a route switching request to the telemetry and control baseband resource pool.

[0068] Step 11: The telemetry and control baseband resource pool, along with access node A and surface array B, jointly completes the route switching and establishes a transmission link from the telemetry and control baseband resource pool to surface array B.

[0069] Step 12: The measurement and control baseband resource pool sends a route switching confirmation message to the random access node A and the curved array B, indicating that the route switching has been completed.

[0070] Step 13: Access node A sends a telemetry and control link release command to surface array A.

[0071] Step 14: After the telemetry and control link is released, the curved surface array A replies with a telemetry and control link release confirmation message to the random access node A.

[0072] Through the above-mentioned telemetry and control relay signaling process, real-time telemetry and control relay of satellites from curved array A to curved array B was realized under the condition of a single random access node.

[0073] Example 2

[0074] This embodiment provides a distributed multi-curved array full-space beam continuous control method. Based on the following satellite telemetry and control system, a satellite real-time telemetry and control relay method under dual random access node conditions is designed.

[0075] like Figure 3 As shown, the satellite payload carries a telemetry and control transponder and an access terminal. There is a ground fiber optic connection between curved arrays A and B. Curved array A is connected to access node A via fiber optic cable, and curved array B is connected to access node B via fiber optic cable. Both curved arrays A and B, along with access nodes A and B, are connected to the telemetry and control baseband resource pool via fiber optic cables. The satellite antenna is an omnidirectional antenna, and can only establish a connection with one curved array at a time. The ground telemetry and control station also uses a curved array antenna.

[0076] This embodiment primarily considers the telemetry and control relay process triggered by channel quality testing. The orbit control report and the pre-configured switching condition trigger report directly proceed to the telemetry and control relay decision-making stage in step 2. To ensure signal phase continuity between different surface arrays, the telemetry and control center schedules the surface arrays of its affiliated telemetry and control stations to complete phase calibration during idle periods. The surface arrays store the phase calibration results between themselves and other adjacent surface arrays. The phase calibration between the aforementioned different surface array antennas can be performed as follows: The telemetry and control center schedules surface arrays A and B to receive the same satellite signals. Subsequent high-precision phase calibration between surface array antennas is achieved based on the phase difference between the signals received by surface arrays A and B.

[0077] like Figure 4 As shown, the method in this embodiment includes the following steps:

[0078] Step 1: The curved array A monitors the uplink telemetry and control link and packages the received satellite downlink telemetry and control link monitoring information to send to the random access node A. In addition, satellite orbit control reports and pre-configured handover conditions can trigger telemetry and control relay request events. It is worth noting that uplink and downlink channel quality measurements mainly include, but are not limited to, received signal power (RSRP), received signal quality (RSRQ), and signal-to-interference-plus-noise ratio (SINR).

[0079] Step 2: Access node A executes a relay decision based on the received measurement report / track control report / pre-configured handover trigger report. It's worth noting that at this point, the access node cannot find a suitable relay surface array within its managed surface array. In this case, access node A's search objective becomes finding the optimal access node B. This information can be obtained from the neighbor relationship information periodically distributed to each access node by the telemetry and control baseband resource pool. To improve handover robustness, access node A sets both measurement result amplitude hysteresis and time hysteresis parameters, which are flexibly configured through network optimization. In contrast, telemetry and control relay events caused by track control reports and pre-configured handover trigger reports should be given higher handover priority.

[0080] Step 3: Access node A sends a user data transmission abort command to the telemetry and control baseband resource pool to inform it that the relay process is about to begin. Upon receiving this information, the telemetry and control baseband resource pool immediately aborts and caches the user data.

[0081] Step 4: Random access node A initiates a cross-domain relay request to the best random access node B. This request contains information such as surface array A and the current orbit of the satellite.

[0082] Step 5: Any access node B selects the best relay surface array B from the surface arrays under its jurisdiction.

[0083] Step 6: Random access node B sends relay configuration information to surface array B and random access node A.

[0084] Step 7: Access node A sends relay configuration information to the satellite and curved array A. The relay configuration information includes the necessary information for this telemetry and control relay, such as the satellite's relay configuration information, which must include at least the frequency, spreading code, modulation and coding parameters, and relay time.

[0085] Step 8: Surface array B sends a tracking status query message to surface array A. The tracking status query message must at least query the current status parameters of the tracking receiver of surface array A and the latest satellite orbit information (partial satellite orbit information within a certain period of time, not the overall orbit information).

[0086] Step 9: Surface array A sends its own tracking receiver status parameters and cached satellite orbit information to surface array B through a tracking status query response message.

[0087] Step 10: The curved array B configures its own tracking receiver status and beam pointing according to the content of the response message querying the received tracking status.

[0088] Step 11: At the agreed relay time, complete the beam acquisition and signal tracking between the satellite and the curved array B, and after establishing uplink and downlink, the satellite sends a link lock message to the curved array B to indicate that the relay is complete.

[0089] Step 12: The curved surface array B sends a relay success confirmation message to the random access node B, indicating that the relay has been completed.

[0090] Step 13: Access node B forwards a relay success confirmation message to access node A.

[0091] Step 14: Access node A forwards a relay success confirmation message to the satellite and curved array A.

[0092] Step 15: Access Node A initiates an access link handover request to Access Node B, requesting that the access link between the satellite and Access Node A be switched to the access link between the satellite and Access Node B.

[0093] Step 16: After the unrestricted access link between the satellite and unrestricted access node B is established, unrestricted access node B sends an unrestricted access link handover response message to unrestricted access node A, indicating that the unrestricted access link handover is complete.

[0094] Step 17: Access node B sends a route switching request to the telemetry and control baseband resource pool, requesting to switch the data transmission link between the telemetry and control baseband resource pool and the curved array A to the data transmission link between the telemetry and control baseband resource pool and the curved array B.

[0095] Step 18: The measurement and control baseband resource pool, random access node A, random access node B, and curved array B jointly complete the route switching.

[0096] Step 19: The telemetry and control baseband resource pool sends a route switching confirmation message to random access node A, random access node B, and surface array B, indicating that the route switching has been completed and the data transmission link between the telemetry and control baseband resource pool and surface array B has been established.

[0097] Step 20: After releasing the random access link, random access node A sends a telemetry and control link release command to surface array A.

[0098] Step 21: After the curved array A releases the telemetry and control link, it replies to the random access node A with a confirmation of the release of the telemetry and control link.

[0099] Through the above-mentioned telemetry and control relay signaling process, real-time telemetry and control relay of satellites from curved array A to curved array B was realized under the condition of dual random access nodes.

[0100] In summary, this invention uses the random access node as the control core of the telemetry and control relay, and utilizes the surface array A to track the receiver's state parameters and cached partial satellite orbit information to accelerate the satellite acquisition process of the relay surface array B, thus supporting the low-latency telemetry and control relay requirements of large-scale constellation satellites.

[0101] It should be noted that, for the sake of simplicity, the foregoing method embodiments are described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

Claims

1. A method for continuous beam control of a distributed multi-curved array across the entire spatial domain, characterized in that, include: Set the triggering event for satellite telemetry and control relay. The triggering basis includes the uplink and downlink status monitoring of the satellite and the telemetry and control station, orbit control commands, and pre-configured switching condition triggering commands. Using the random access node as the control core of the satellite telemetry, tracking, and command (TT&C) relay, and leveraging the status parameters of the surface array tracking receiver and cached partial satellite orbit information, the inter-surface array beam switching process is adaptively triggered based on the TT&C relay trigger event to ensure continuous tracking of the satellite by the surface array. This includes the following steps: Step 1: Curved array A performs downlink telemetry and control link monitoring and packages the received satellite uplink telemetry and control link monitoring information together and sends it to random access node A; Step 2: Based on the received measurement report / track control report / pre-configuration handover trigger report, the random access node A performs a local relay decision and dynamically selects the best relay surface array B; or performs a cross-domain relay decision to find the best random access node B, so that the best random access node B can select the best relay surface array B from the surface array under its jurisdiction. Step 3: Whenever access node A sends a user data transmission abort command to the telemetry and control baseband resource pool, the telemetry and control baseband resource pool immediately stops and caches the user data; Step 4: When executing local relay decision, the random access node A sends relay configuration information to the satellite, surface array A and surface array B respectively; when executing cross-domain relay decision, the random access node B sends relay configuration information to surface array B and random access node A, and the random access node A then sends relay configuration information to the satellite and surface array A. Step 5: Surface array B sends a tracking status query message to surface array A; Step 6: Surface array A sends its own tracking receiver status parameters and cached satellite orbit information to surface array B through a tracking status query response message; Step 7: The curved array B configures its own tracking receiver status and beam pointing according to the received tracking status query response message; Step 8: After establishing the uplink and downlink between the satellite and the curved array B at the predetermined relay time, the satellite sends a link locking message to the curved array B to indicate that the relay is complete. Step 9: When executing a local relay decision, the curved array B sends a relay success confirmation message to the random access node A; when executing a cross-domain relay decision, the curved array B sends a relay success confirmation message to the random access node B, and the random access node B forwards the relay success confirmation message to the satellite and the curved array A through the random access node A. Step 10: When executing a local relay decision, the access node A initiates a route switching request to the telemetry and control baseband resource pool; when executing a cross-domain relay decision, the access node B sends a route switching request to the telemetry and control baseband resource pool. Step 11: When executing a local relay decision, the telemetry and control baseband resource pool, random access node A, and curved array B jointly complete the route switching and establish a transmission link from the telemetry and control baseband resource pool to the curved array B; when executing a cross-domain relay decision, the telemetry and control baseband resource pool, random access node A, random access node B, and curved array B jointly complete the route switching. Step 12: When executing the local relay decision, the telemetry and control baseband resource pool sends a route switching confirmation message to the random access node A and the curved array B, indicating that the route switching has been completed; when executing the cross-domain relay decision, the telemetry and control baseband resource pool sends a route switching confirmation message to the random access node A, the random access node B and the curved array B, indicating that the route switching has been completed. Step 13: When executing a local relay decision, the random access node A sends a telemetry and control link release command to the curved array A; when executing a cross-domain relay decision, the random access node A first releases the random access link with the satellite, and then sends a telemetry and control link release command to the curved array A. Step 14: After completing the release of the telemetry and control link, the curved surface array A sends a telemetry and control link release message to the random access node A.

2. The distributed multi-curved array full-space beam continuity control method according to claim 1, characterized in that, In step 1, the telemetry and control center schedules its subordinate telemetry and control stations to complete the phase calibration of the subordinate curved arrays during their off-peak hours. The curved arrays save the phase calibration results between themselves and the curved arrays that are adjacent to them.

3. The distributed multi-curved array full-space beam continuity control method according to claim 2, characterized in that, The phase calibration method between different curved arrays includes: the telemetry and control center schedules two different curved arrays belonging to two telemetry and control stations to receive the same satellite signal, and then performs subsequent curved array phase calibration based on the phase difference of the signals received by the two curved arrays.

4. The distributed multi-curved array full-space beam continuity control method according to claim 1, characterized in that, The relay configuration information includes the necessary information for the relay, including the satellite's relay configuration information such as frequency point, spreading code, modulation and coding parameters, and relay time; the relay configuration information of the satellite, surface array A, and surface array B may not be the same for each other.

5. The distributed multi-curved array full-space beam continuity control method according to claim 1, characterized in that, In step 5, the tracking status query message sent by surface array B to surface array A includes partial satellite orbit information cached by surface array A and tracking receiver status parameters of surface array A, which is used to assist surface array B in quickly acquiring and tracking satellites.

6. The distributed multi-curved array full-space beam continuity control method according to claim 1, characterized in that, Steps 5 and 6 support two interaction methods: Method 1: Steps 5 and 6 are executed once between surface arrays A and B; based on the tracking status response message obtained in step 6, surface array B calculates the status and beam direction of its own tracking receiver at the subsequent relay moment. Method 2: The tracking status information exchange between surface arrays A and B in steps 5 and 6 is continuously executed; surface arrays A and B achieve tracking receiver status synchronization, realizing pre-tracking of the satellite by surface array B.

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