Satellite-load coupling control method and system for long-time staring between different orbit surface satellites

Abstract

The invention relates to the technical field of automatic control, in particular to a satellite-load coupling control method and system for long-time staring between different orbit surface satellites, and the method comprises the steps: determining a reference moment according to the relative position relation between a local satellite and a target satellite; obtaining an optimal vector matrix according to a position relation and a speed relation between the satellite and a target satellite at a reference moment; obtaining an optimal vector direction according to a relationship between a diagonal line in a diagonal line plane of the space turntable field of view and an optimal orientation vector of the diagonal line plane of the space turntable field of view; according to the initial attitude matrix and the optimal vector matrix, the attitude of the satellite after rotation adjustment is obtained; and according to the optimal vector direction, the attitude of the satellite after rotation adjustment, the installation relation matrix, the conversion relation matrix and the relative position relation between the satellite and the target satellite, performing long-time staring of the satellite turntable on the target satellite. According to the invention, the staring duration between different orbit surface satellites is optimized, and the performance of information data transmission is improved.

Description

Technical Field

[0001] The present invention relates to the field of automatic control technology, and particularly to a satellite-borne coupling control method and system for long-time staring between satellites on different orbital planes. Background Art

[0002] When long-time staring is carried out between satellites on different orbital planes, mutual staring between satellites is achieved by adjusting the satellite attitude and the pointing of the space turntable. Due to its flexibility and mobility, the space turntable has gradually become one of the core means for high-precision pointing and tracking with large dynamic range in space. For example, the mobile space optical communication terminal commonly used on giant constellations can expand the optical communication field of view in the order of milliradians by hundreds of times through the maneuver of the two-dimensional space turntable, reaching an available range of dozens of degrees. However, satellites independently orbit the earth center on their respective orbits. Except for a very small number of satellites on the same orbital plane deployed with the satellite itself, the orbits of the satellite itself and more than 99.5% of any satellites on different orbital planes cannot be parallel, and the formed trajectories will cross each other. Through the design of orbital altitude and orbital phase, two satellites on different orbital planes do not reach the orbital intersection point simultaneously to avoid orbital collision.

[0003] However, due to the dislocation of time and space, under the three-axis stabilized earth-pointing attitude control strategy of traditional satellites, the time for the trajectory of the target satellite to cross the maneuvering range of the space turntable of the satellite itself is short, and in most cases, the trajectory of the target satellite cannot even cross the maneuvering range of the space turntable. For the space laser communication terminal, the residence time of the target star within the maneuvering range of the space turntable restricts the size of the communication data volume between the two satellites; for the space observation terminal, the residence time of the target star within the maneuvering range of the space turntable restricts the number of images that can be captured. The shorter the time for the target star to cross the maneuvering range of the space turntable of the satellite itself, the less information data is transmitted between the two satellites, and the fewer images can be captured. To address the problem of the short time for the target star to cross the maneuvering range of the space turntable of the satellite itself, although the best position of the target star passing through the space turntable of the satellite itself can be achieved by adjusting the orbital positions of the two satellites, due to the constraints of space orbit dynamics, a large amount of fuel resources and time costs are required for the best position adjustment; while satellite attitude adjustment often only requires the renewable electric energy provided by the satellite solar wings. Therefore, by optimizing the control of the attitude maneuver of the satellite itself and adjusting the central pointing and coverage direction of the effective working range of the space turntable, the residence time of the trajectory of the target star within the maneuvering range of the space turntable can be maximized, achieving better cost performance. Summary of the Invention

[0004] The present invention provides a satellite-borne coupling control method and system for long-time staring between satellites on different orbital planes to solve the existing problems.

[0005] The object of the present invention can be achieved by the following technical solutions: The first aspect of the present invention is to provide a satellite-borne coupling control method for long-time staring between satellites on different orbital planes, including: Construct the space turntable coordinate system and the rectangular cone field of view coordinate system of the satellite itself, and obtain the installation relationship matrix between the satellite itself and the corresponding space turntable; obtain the rotation attitude matrix of the satellite itself at each moment; obtain the conversion relationship matrix between the space turntable coordinate system and the rectangular cone field of view coordinate system; Obtain the closest distance between the satellite itself and the target satellite at several subsequent moments; record the moment corresponding to the closest distance between the satellite itself and the target satellite as the reference moment; According to the rotation attitude matrix of the satellite itself at the reference moment, obtain the optimal orientation vector of the space turntable optical axis and the optimal orientation vector of the diagonal plane of the space turntable field of view; according to the optimal orientation vector of the space turntable optical axis and the optimal orientation vector of the diagonal plane of the space turntable field of view, obtain the optimal vector matrix in the optimal coverage rectangular cone field of view coordinate system; according to the relationship between the diagonal line in the diagonal plane of the space turntable field of view and the optimal orientation vector of the diagonal plane of the space turntable field of view, obtain the optimal vector direction; obtain the initial attitude matrix of the target satellite in the rectangular cone field of view coordinate system, and according to the initial attitude matrix and the optimal vector matrix, obtain the rectangular field of view conversion matrix between the initial attitude and the optimal attitude of the target satellite; obtain the optimal rotation parameter angle according to the rectangular field of view conversion matrix, and rotate the satellite itself through the optimal rotation parameter angle to obtain the attitude of the satellite itself after rotation adjustment; According to the optimal vector direction, the attitude of the satellite itself after rotation adjustment, the installation relationship matrix, the conversion relationship matrix, and the relative position relationship between the satellite itself and the target satellite, perform long-time staring of the satellite turntable at the target satellite.

[0006] Further, the construction of the space turntable coordinate system and the rectangular cone field of view coordinate system of the satellite itself, and obtaining the installation relationship matrix between the satellite itself and the corresponding space turntable includes: The axis in the space turntable coordinate system is the optical axis of the space turntable, the axis is parallel to the pitch axis of the space turntable, and the axis is parallel to the azimuth axis of the space turntable; The coordinate origin of the rectangular cone field of view coordinate system coincides with the origin of the space turntable coordinate system, the axis coincides with the axis of the space turntable coordinate system, the axis is parallel to the diagonal plane of the rectangular field of view, The installation relationship matrix between this satellite and the corresponding space turntable is as follows:

[0007] In the formula, represents this satellite and the corresponding space turntable the installation relationship matrix therebetween.

[0008] Furthermore, the rotation attitude matrix of this satellite at each moment is obtained; the conversion relationship matrix between the space turntable coordinate system and the rectangular cone field of view coordinate system includes: By using the Euler angle rotation sequence through the satellite on-board computer, the rotation attitude matrix of each satellite relative to the J2000 coordinate system at each moment is obtained; the satellite on-board computer is installed inside the satellite platform module; wherein, each satellite corresponds to a satellite platform module;

[0009] In the formula, represents the space turntable coordinate system and the rectangular cone field of view coordinate system the conversion relationship matrix therebetween, represents the cosine function, represents the sine function, represents the arctangent function, represents the azimuth angle of the space turntable, represents the pitch angle of the space turntable; represents rotation about the Z-axis.

[0010] Furthermore, the obtaining of the shortest distance between this satellite and the target satellite at several subsequent moments includes: Obtaining the positions and velocities of this satellite and the target satellite corresponding in the J2000 coordinate system at each moment; According to the position and velocity of this satellite corresponding in the J2000 coordinate system, the position and velocity of the target satellite corresponding in the J2000 coordinate system, through the Earth J2 perturbation model and the fourth-order Runge-Kutta numerical integration method, the positions and velocities of this satellite and the target satellite corresponding in the J2000 coordinate system at each subsequent moment are obtained; wherein, represents at the moment the position of this satellite corresponding in the J2000 coordinate system; represents at the moment the position of the target satellite represents at the moment , the velocity of this star corresponding to the J2000 coordinate system; represents at the moment , the target star corresponding to the velocity in the J2000 coordinate system;

[0011] In the formula, represents at each subsequent moment, the distance between this star and the target star ; , and represent the values corresponding to each axis of this star in the J2000 coordinate system, , and represent the values corresponding to each axis of the target star in the J2000 coordinate system; According to several subsequent moments, select the shortest distance between this star and the target star; among them, the specific process of selecting the shortest distance between this star and the target star is: Step 1: Start from the moment ; Judge the difference in the distance between this star and the target star at each moment and the next moment. When the distance between this star and the target star at each moment is less than or equal to the distance between this star and the target star at the next moment, then record the distance between this star and the target star at each moment as the shortest distance between this star and the target star, and end the loop; otherwise, execute Step 2; Step 2: Add 1 to the moment , make a judgment at the moment , and then continue to return to Step 1.

[0012] Further, the specific process of obtaining the optimal orientation vector of the spatial turntable visual axis is:

[0013] In the formula, represents the rotation attitude matrix of this star relative to the J2000 coordinate system at the reference moment , represents the position of the target star corresponding to the J2000 coordinate system at the reference moment , represents the position of this star corresponding to the J2000 coordinate system at the reference moment , Indicates at the reference time the target star corresponding position in the J2000 coordinate system is at the value on the Indicates at the reference time the target star corresponding position in the J2000 coordinate system is at the value on the Indicates at the reference time the target star corresponding position in the J2000 coordinate system is at the value on the Indicates at the reference time the satellite itself corresponding position in the J2000 coordinate system is at the value on the Indicates at the reference time the satellite itself corresponding position in the J2000 coordinate system is at the value on the Indicates at the reference time the satellite itself corresponding position in the J2000 coordinate system is at the value on the ; Indicates the optimal orientation vector of the space turntable's line of sight axis, used to ensure that the turntable points to the closest distance to the target star when in the initial position; 、 and respectively indicate the projections on each axis of the J2000 coordinate system.

[0014] Furthermore, the specific acquisition process of the optimal orientation vector of the space turntable's field of view diagonal plane is as follows:

[0015] In the formula, Indicates at the reference time the target star corresponding velocity in the J2000 coordinate system, Indicates at the reference time the satellite itself corresponding velocity in the J2000 coordinate system; Indicates at the reference time the target star corresponding velocity in the J2000 coordinate system on the value on the Indicates at the reference time the target star The value of the velocity corresponding in the J2000 coordinate system on the axis, which represents that at the reference time the target star The value of the velocity corresponding in the J2000 coordinate system on the axis, which represents that at the reference time the local star The value of the velocity corresponding in the J2000 coordinate system on the axis, which represents that at the reference time the local star The value of the velocity corresponding in the J2000 coordinate system on the axis, which represents that at the reference time the local star The value of the velocity corresponding in the J2000 coordinate system on the axis; represents the optimal orientation vector of the diagonal plane of the space turntable field of view, which is used to ensure that the flight trajectory of the target star is parallel to the diagonal plane of the field of view, so as to maximize the residence time of the target star in the field of view; , and respectively represent the projections on the respective axes of the J2000 coordinate system.

[0016] Furthermore, obtaining the optimal vector matrix in the optimal coverage rectangular cone field of view coordinate system according to the optimal orientation vector of the space turntable optical axis and the optimal orientation vector of the diagonal plane of the space turntable field of view includes: According to the optimal orientation vector of the space turntable optical axis, the optimal orientation vector of the diagonal plane of the space turntable field of view the specific formula for obtaining another optimal orientation vector in the optimal coverage rectangular cone field of view coordinate system is:

[0017] In the formula, represents the orientation vector corresponding to in the optimal coverage rectangular cone field of view coordinate system, , and respectively represent the projections on the respective axes of the J2000 coordinate system; represents the cross product operation between ; The optimal vector matrix in the optimal coverage rectangular cone field of view coordinate system is expressed as: 。

[0018] Furthermore, obtaining the optimal vector direction according to the relationship between the diagonal line in the diagonal plane of the space turntable field of view and the optimal orientation vector of the diagonal plane of the space turntable field of view includes: Obtain four vectors of the diagonal plane of the space turntable field of view; the four vectors are respectively expressed by the formulas:

[0019] In the formula, and represent the vector of the diagonal line AC, and represent the vector of the diagonal line CA, and represent the vector of the diagonal line BD, and represent the vector of the diagonal line DB; represents the arctangent function; represents rotation around the Z-axis, represents the azimuth angle of the space turntable, represents the pitch angle of the space turntable; where, respectively represent the four vertices of the rectangular field of view of the space turntable; Calculate the included angles between the four vectors and the optimal orientation vector of the diagonal plane of the space turntable field of view respectively. Specifically, it is expressed by the formula:

[0020] In the formula, represents the dot product between the vector and the vector ; represents the modulus of the vector, represents the arccosine function, represents the th diagonal vector; represents the optimal orientation vector of the diagonal plane of the space turntable field of view; represents the th included angle between the diagonal vector and the optimal orientation vector of the diagonal plane of the space turntable field of view; where, represents and its value has only four values; Select the four vector vectors 、 、 、 The direction of the vector corresponding to the minimum angle between the optimal orientation vector of the spatial turntable's field-of-view diagonal plane is denoted as the optimal vector direction.

[0021] Further, obtaining the rectangular field-of-view conversion matrix between the initial attitude of the target star and the optimal attitude according to the initial attitude matrix and the optimal vector matrix; obtaining the optimal rotation parameter angle according to the rectangular field-of-view conversion matrix, and rotating the satellite by the optimal rotation parameter angle to obtain the attitude of the satellite after rotation adjustment, includes:

[0022]

[0023] In the formula, 、 and respectively represent the projections on the respective axes of the J2000 coordinate system, 、 and respectively represent the projections on the respective axes of the J2000 coordinate system, 、 and respectively represent the projections on the respective axes of the J2000 coordinate system; represents the optimal vector matrix in the optimal coverage rectangular cone field-of-view coordinate system ; represents the initial attitude matrix of the target star in the rectangular cone field-of-view coordinate system ; represents the matrix inversion function; represents the rectangular field-of-view conversion matrix between the initial attitude and the optimal attitude of the target star; represents the transition matrix of the rectangular field-of-view conversion matrix between the initial attitude and the optimal attitude of the target star; According to the rectangular field-of-view conversion matrix between the initial attitude and the optimal attitude of the target star, three optimal rotation parameter angles in the process of obtaining the rotation attitude matrix of the satellite at the reference time relative to the J2000 coordinate system are obtained through the Euler angle rotation sequence; According to the three optimal rotation parameter angles, the satellite is rotated through the Euler angle rotation sequence to obtain the attitude of the satellite after rotation adjustment.

[0024] The second aspect of the present invention provides a spaceborne coupled control system for long-term staring between satellites in different orbital planes, including: Coordinate relationship construction module: used to construct the space turntable coordinate system and the rectangular cone field of view coordinate system of this satellite, obtain the installation relationship matrix between this satellite and the corresponding space turntable; obtain the rotation attitude matrix of this satellite at each moment; obtain the conversion relationship matrix between the space turntable coordinate system and the rectangular cone field of view coordinate system; Off-orbit plane satellite position relationship module: used to obtain the closest distance between this satellite and the target satellite at several subsequent moments; record the moment corresponding to the closest distance between this satellite and the target satellite as the reference moment; Attitude analysis and adjustment module: used to obtain the optimal orientation vector of the space turntable optical axis and the optimal orientation vector of the space turntable field of view diagonal plane according to the rotation attitude matrix of this satellite at the reference moment; obtain the optimal vector matrix in the optimal coverage rectangular cone field of view coordinate system according to the optimal orientation vector of the space turntable optical axis and the optimal orientation vector of the space turntable field of view diagonal plane; obtain the optimal vector direction according to the relationship between the diagonal line in the space turntable field of view diagonal plane and the optimal orientation vector of the space turntable field of view diagonal plane; obtain the initial attitude matrix of the target satellite in the rectangular cone field of view coordinate system, and obtain the rectangular field of view conversion matrix between the initial attitude and the optimal attitude of the target satellite according to the initial attitude matrix and the optimal vector matrix; obtain the optimal rotation parameter angle according to the rectangular field of view conversion matrix, and rotate this satellite through the optimal rotation parameter angle to obtain the attitude of this satellite after rotation adjustment; Tracking and staring module: used to perform long-term staring of the target satellite by the turntable of this satellite according to the optimal vector direction, the attitude of this satellite after rotation adjustment, the installation relationship matrix, the conversion relationship matrix, and the relative position relationship between this satellite and the target satellite.

[0025] Compared with the prior art, the beneficial effects of the present invention are as follows: By constructing the space turntable coordinate system and the rectangular cone field of view coordinate system of the present satellite, the installation relationship matrix between the present satellite and the corresponding space turntable is obtained; the rotation attitude matrix of the present satellite at each moment is obtained; the conversion relationship matrix between the space turntable coordinate system and the rectangular cone field of view coordinate system is obtained, improving the accuracy of the analysis of each coordinate system and the relationship between each coordinate system; the closest distance between the present satellite and the target satellite at several subsequent moments is obtained; the moment corresponding to the closest distance between the present satellite and the target satellite is recorded as the reference moment, improving the accuracy of the analysis of the best staring time for the target satellite to enter the field of view range optimally; according to the position relationship and velocity relationship between the present satellite and the target satellite corresponding to the J2000 coordinate system at the reference moment, the optimal vector matrix in the optimal coverage rectangular cone field of view coordinate system is obtained, improving the accuracy of the analysis of adjusting the attitude of the present satellite to the best attitude; according to the relationship between the diagonal line in the diagonal plane of the space turntable field of view and the optimal orientation vector of the diagonal plane of the space turntable field of view, the optimal vector direction is obtained; the initial attitude matrix of the target satellite in the rectangular cone field of view coordinate system is obtained, and according to the initial attitude matrix and the optimal vector matrix, the rectangular field of view conversion matrix between the initial attitude and the optimal attitude of the target satellite is obtained; according to the rectangular field of view conversion matrix, the optimal rotation parameter angle is obtained, and the present satellite is rotated by the optimal rotation parameter angle to obtain the attitude of the present satellite after rotation adjustment, improving the accuracy of the attitude adjustment of the present satellite; according to the optimal vector direction, the attitude of the present satellite after rotation adjustment, the installation relationship matrix, the conversion relationship matrix, and the relative position relationship between the present satellite and the target satellite, long-term staring of the present satellite turntable at the target satellite is performed, optimizing the staring duration and improving the performance of information data transmission. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0027] Figure 1 It is a schematic flow chart of the steps of a satellite-borne coupling control method for long-term staring between satellites on different orbital planes provided by the present invention; Figure 2 It is a schematic module flow chart of a satellite-borne coupling control system for long-term staring between satellites on different orbital planes provided by the present invention; Figure 3 It is a schematic diagram of the composition of the present satellite system; Figure 4 It is a schematic diagram of the positional relationship between the satellite body and the space turntable; Figure 5 It is a schematic diagram of the flight trajectory of the target star in the rectangular conical field of view; Figure 6 It is a schematic diagram of the optimal flight trajectory of the target star in the rectangular conical field of view. Detailed implementation manners

[0028] In order to enable those skilled in the art of the present technology to better understand the solution of the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0029] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned accompanying drawings are used to distinguish similar objects, and do not necessarily need to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described here can be implemented in an order different from those illustrated or described here. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0030] In view of the problems existing in the background technology, researching and designing a space-borne coupling control method and system for long-time staring between satellites on different orbital planes has important practical significance.

[0031] As Figure 1 shown, the first aspect of the present invention is to provide a space-borne coupling control method for long-time staring between satellites on different orbital planes, including the following steps: Step S001: Construct several different coordinate systems and determine the relationship matrix between each coordinate system.

[0032] It should be noted that in this embodiment, a space turntable is installed on the surface of this satellite. By adjusting the attitude of the space turntable of this satellite, the time for the target star on a different orbital plane from this satellite to pass through the maneuvering range of the space turntable of this satellite is maximized, so as to increase the visible duration between this satellite and the target star. Among them, this satellite is a satellite whose attitude can be adjusted; the target star is another satellite. Among them, the schematic diagram of the composition of this satellite system is as Figure 3As shown in the figure; the satellite system consists of a satellite platform module 1, a space turntable 2, a satellite computer 3, and a space turntable electronic control box 4; the field of view of the space turntable 2 is a rectangular cone field of view 5; the satellite computer 3 and the space turntable electronic control box 4 are installed inside the satellite platform module 1, and the satellite platform module 1 is connected to the space turntable 2.

[0033] Furthermore, it should be noted that since the space turntable is installed on the surface of the satellite, the installation relationship matrix between the satellite and the corresponding space turntable is determined through the installation structure between the satellite and the space turntable. Among them, the schematic diagram of the positional relationship between the satellite body and the space turntable is as Figure 4 shown; among them, Figure 4 it includes a satellite body 6 and a space turntable 7; the in the satellite body 6 represents the X-axis in the body coordinate system, and the in the satellite body 6 represents the Z-axis in the body coordinate system; the in the space turntable 7 represents the X-axis in the space turntable coordinate system, and the in the space turntable 7 represents the Z-axis in the space turntable coordinate system. Among them, the body coordinate system is the coordinate system corresponding to the satellite .

[0034] Specifically, a space turntable coordinate system is constructed, where the axis is the visual axis of the space turntable, the axis is parallel to the pitch axis of the space turntable, and the axis is parallel to the azimuth axis of the space turntable. Through the installation structure between the satellite and the corresponding space turntable, the installation relationship matrix between the satellite and the corresponding space turntable is determined; among them, there are various installation structures between the satellite and the space turntable, and the following installation structure in this embodiment is described for illustration.

[0035] Among them, in this embodiment, the installation relationship matrix between the satellite and the corresponding space turntable is expressed as:

[0036] In the formula, represents the installation relationship matrix between the satellite and the corresponding space turntable .

[0037] Among them, the installation relationship matrix between the satellite and the corresponding space turntable is only applicable to this embodiment; the corresponding installation relationship matrix is different in different situations, that is, the numbers in the installation relationship matrix need to be adjusted.

[0038] It should be noted that a satellite bus computer and an electronic control box for the space turntable are installed inside the satellite platform cabin; the satellite bus computer is used to calculate the relative position between two satellites and control the attitude maneuver of the satellite platform cabin; the electronic control box for the space turntable is used to control the pointing of the space turntable.

[0039] Furthermore, it should be noted that since the attitude of the satellite is constantly changing at each moment. Therefore, it is impossible to directly analyze the relationship between the local satellite and the target satellite. Therefore, the attitudes of the two satellites relative to the J2000 coordinate system (also known as the inertial coordinate system or the astronomical coordinate system) are obtained, and subsequent analysis is carried out based on the relationship between the two attitudes.

[0040] Furthermore, it should be noted that when staring at different satellites on different orbital planes, it is necessary to analyze the relationship between the local satellite and the target satellite through the coordinate system corresponding to the local satellite itself to analyze the staring situation; however, the target satellite cannot be directly reflected in the coordinate system corresponding to the local satellite itself, and the coordinate data of the target satellite in the coordinate system corresponding to the local satellite itself needs to be determined through the rotation relationship of each satellite relative to the J2000 coordinate system.

[0041] Specifically, the satellite bus computer uses the Euler angle rotation sequence to obtain the rotation attitude matrix of each satellite relative to the J2000 coordinate system at each moment; among them, in this embodiment, the Euler angle rotation sequence uses the 2-1-3 sequence. In this embodiment, the Euler angle rotation sequence is not specifically limited, and the implementer can determine it according to the specific situation. Among them, the Euler angle rotation sequence is a well-known technology and will not be specifically described here.

[0042] Thus, the rotation attitude matrix of the local satellite relative to the J2000 coordinate system at each moment can be obtained.

[0043] It should be noted that only when the trajectory of the target satellite passes through the maneuvering range of the space turntable of the local satellite can the two be visible and communicate. The maneuvering range of the space turntable is obtained by adjusting its own azimuth angle and elevation angle. Therefore, there is a difference between the space turntable coordinate system and the coordinate system of the maneuvering range of the space turntable. Therefore, it is necessary to determine the conversion relationship between the two to carry out subsequent analysis.

[0044] Specifically, a coordinate system corresponding to the maneuvering range of the space turntable is constructed, denoted as the rectangular cone field of view coordinate system corresponding to the maneuvering range of the space turntable ; where the coordinate origin coincides with the origin of the space turntable coordinate system , the axis coincides with the axis of the space turntable coordinate system, the axis is parallel to the diagonal plane of the rectangular field of view, Axis perpendicular to Axis and axis, and intersects at .

[0045] According to the azimuth and pitch angle of the space turntable, the coordinate system of the space turntable is obtained. and rectangular cone view coordinate system The conversion relationship matrix between The conversion relationship matrix Specifically expressed as:

[0046] In the formula, Represents the spatial turntable coordinate system and rectangular cone view coordinate system The conversion relationship matrix between represents the cosine function, represents the sine function, represents the inverse tangent function, represents the azimuth of the space turntable, Indicates the pitch angle of the space turntable; Indicates rotation around the Z axis.

[0047] Step S002: Determine the distance between the local star and the target star at a subsequent time through the position information of the local star and the target star, and iterate and analyze to obtain the shortest distance between the local star and the target star during the operation.

[0048] It should be noted that in order to make the visibility time between the own star and the target star in the different orbital plane longer, it is necessary to make the target star travel as long as possible when passing through the maneuvering range of the own star space turntable. When the distance between the own star and the target star is short and the target star passes through the diagonal plane of the rectangular cone field of view of the maneuvering range of the own star space turntable, the trajectory of the target star within the maneuvering range of the own star space turntable can be made the longest.

[0049] Specifically, get the The positions of the local and target stars in the J2000 coordinate system , and speed , .in, Indicates at time , this star Corresponding to the position in the J2000 coordinate system; Indicates at time , target star Corresponding to the position in the J2000 coordinate system; Indicates at time , this star The velocity corresponding in the J2000 coordinate system; Indicates at the moment , the target star The velocity corresponding in the J2000 coordinate system.

[0050] According to the positions of this star and the target star corresponding in the J2000 coordinate system , and the velocity , , through the Earth J2 perturbation model and the fourth-order Runge-Kutta numerical integration method, the positions and velocities of this star and the target star corresponding in the J2000 coordinate system at each subsequent moment are obtained. Among them, both the Earth J2 perturbation model and the fourth-order Runge-Kutta numerical integration method are well-known technologies and will not be specifically elaborated here.

[0051] According to the positions of this star and the target star corresponding in the J2000 coordinate system at each moment, the distance between this star and the target star is obtained; the distance between this star and the target star is specifically expressed by the formula:

[0052] In the formula, Indicates at each subsequent moment, this star and the target star The distance between; , and Indicate this star The numerical values corresponding to each axis in the J2000 coordinate system, , and Indicate the target star The numerical values corresponding to each axis in the J2000 coordinate system.

[0053] Thus, the distance between this star and the target star at each subsequent moment is obtained; Obtain the closest distance between this star and the target star at several subsequent moments; among them, the loop acquisition process for selecting the closest distance between this star and the target star is: Step 1, start from the moment ; judge the difference in the distance between this star and the target star at each moment and the next moment. When the distance between this star and the target star at each moment is less than or equal to the distance between this star and the target star at the next moment, then record the distance between this star and the target star at each moment as the closest distance between this star and the target star, and end the loop; otherwise, execute Step 2; Step 2, add 1 to the moment , and perform the moment Make a judgment under the following conditions, and then continue to return to step 1.

[0054] Another detailed process for selecting the shortest distance between the present satellite and the target satellite is as follows: Judge the difference in the distance between the present satellite and the target satellite at time and time ; When the distance between the present satellite and the target satellite at time is less than or equal to the distance between the present satellite and the target satellite at time , then record the distance between the present satellite and the target satellite at time as the shortest distance between the present satellite and the target satellite. When the distance between the present satellite and the target satellite at time is less than the distance between the present satellite and the target satellite at time , then continue to judge the difference in the distance between the present satellite and the target satellite at time and time ; When the distance between the present satellite and the target satellite at time is less than or equal to the distance between the present satellite and the target satellite at time , then record the distance between the present satellite and the target satellite at time as the shortest distance between the present satellite and the target satellite. When the distance between the present satellite and the target satellite at time is less than the distance between the present satellite and the target satellite at time , then continue to judge the difference in the distance between the present satellite and the target satellite at time and time ; And so on, continue to judge and analyze the difference in the distance between the present satellite and the target satellite at the subsequent two adjacent times until the shortest distance between the present satellite and the target satellite that satisfies the condition appears for the first time, then stop the iteration.

[0055] So far, the shortest distance between the present satellite and the target satellite at the subsequent time is obtained; record the time corresponding to the shortest distance between the present satellite and the target satellite as the reference time.

[0056] So far, the positions and velocities of the present satellite and the target satellite corresponding to the reference time in the J2000 coordinate system are obtained.

[0057] Step S003: Obtain the optimal vector matrix according to the position relationship and velocity relationship between the present satellite and the target satellite at the reference time; obtain the optimal vector direction according to the relationship between the diagonal of the spatial turntable field of view plane and the optimal orientation vector of the spatial turntable field of view plane; obtain the attitude of the present satellite after rotation adjustment according to the initial attitude matrix and the optimal vector matrix.

[0058] It should be noted that, in order to make the trajectory of the target star passing through the maneuvering range of the space turntable of this satellite the longest, the axis of the rectangular conical field-of-view coordinate system of the space turntable needs to be rotated to the optimal orientation to ensure that the line of sight of the space turntable points to the target position at the closest distance to the target star when it is at the initial position.

[0059] Specifically, according to the position relationship between this satellite and the target star in the J2000 coordinate system at the reference moment and the rotation attitude matrix of this satellite relative to the J2000 coordinate system at the reference moment, the optimal orientation vector of the line of sight of the space turntable is obtained; specifically, it is expressed by the formula:

[0060] In the formula, represents the rotation attitude matrix of this satellite relative to the J2000 coordinate system at the reference moment , represents the position of the target star in the J2000 coordinate system at the reference moment , represents the position of this satellite in the J2000 coordinate system at the reference moment , represents the value of the position of the target star in the J2000 coordinate system at the reference moment on the axis, represents the value of the position of the target star in the J2000 coordinate system at the reference moment on the axis, represents the value of the position of the target star in the J2000 coordinate system at the reference moment on the axis, represents the value of the position of this satellite in the J2000 coordinate system at the reference moment on the axis, represents the value of the position of this satellite in the J2000 coordinate system at the reference moment on the axis, represents the value of the position of this satellite in the J2000 coordinate system at the reference moment The position in the J2000 coordinate system is at the value of the axis; , and respectively represent the projections on each axis of the J2000 coordinate system.

[0061] It should be noted that by rotating the attitude matrix, the axis of the rectangular cone field of view coordinate system is rotated to the optimal orientation to ensure that the diagonal plane of the space turntable field of view is parallel to the flight trajectory of the target star, thereby maximizing the residence time of the target star in the field of view.

[0062] Specifically, according to the velocity relationship between the satellite and the target star in the J2000 coordinate system at the reference time and the rotation attitude matrix of the satellite relative to the J2000 coordinate system at the reference time, the optimal orientation vector of the diagonal plane of the space turntable field of view is obtained; specifically expressed by the formula:

[0063] In the formula, represents the rotation attitude matrix of the satellite relative to the J2000 coordinate system at the reference time , represents the velocity of the target star at the reference time corresponding in the J2000 coordinate system, represents the velocity of the satellite at the reference time corresponding in the J2000 coordinate system; represents the value of the velocity of the target star at the reference time corresponding in the J2000 coordinate system on the axis, represents the value of the velocity of the target star at the reference time corresponding in the J2000 coordinate system on the axis, represents the value of the velocity of the target star at the reference time corresponding in the J2000 coordinate system on the axis, represents the value of the velocity of the satellite at the reference time corresponding in the J2000 coordinate system on the axis, Indicates at the reference time when, this satellite the corresponding velocity in the J2000 coordinate system at the axis value, Indicates at the reference time when, this satellite the corresponding velocity in the J2000 coordinate system at the axis value; Indicates the optimal orientation vector of the diagonal plane of the space turntable field of view, which is used to ensure that the flight trajectory of the target satellite is parallel to the diagonal plane of the field of view, so as to maximize the residence time of the target satellite in the field of view; 、 and respectively represent the projections on the respective axes of the J2000 coordinate system.

[0064] It should be noted that through the optimal orientation vector of the space turntable optical axis and the optimal orientation vector of the diagonal plane of the space turntable field of view, another optimal orientation vector in the three-dimensional coordinate system is obtained to construct the optimal coverage rectangular cone field of view coordinate system.

[0065] Specifically, according to the optimal orientation vector of the space turntable optical axis 、the optimal orientation vector of the diagonal plane of the space turntable field of view , the specific formula for obtaining another optimal orientation vector in the optimal coverage rectangular cone field of view coordinate system is expressed as:

[0066] In the formula, represents the orientation vector corresponding to in the optimal coverage rectangular cone field of view coordinate system, 、 and respectively represent the projections on the respective axes of the J2000 coordinate system; represents and the cross product operation between.

[0067] It should be noted that in order to maximize the residence time of the target satellite in the field of view by minimizing the adjustment of this satellite during the attitude adjustment process of this satellite, the direction of the minimum adjustment can be determined by analyzing the angles between different diagonals and the target satellite trajectory. Among them, the schematic diagram of the flight trajectory of the target satellite in the rectangular cone field of view is as Figure 5 shown. Among them, Figure 5 A, B, C, D in are the four corners of the rectangular cone field of view.

[0068] Specifically, first determine an axis in the optimal coverage rectangular cone field of view coordinate system . In this embodiment, is taken as an example for description. In this embodiment, the selected axis is not limited, and the implementer can determine it according to the specific situation. Map the four diagonals in the rectangular field of view to the axis through the azimuth angle and pitch angle of the rectangular cone field of view, so as to determine four vectors. Among them, the four vectors are respectively: , , , . When the rotation azimuth angle of the space turntable is and the pitch angle is , the four vectors can be expressed by the following formulas respectively:

[0069] In the formula, and represent the vector of diagonal AC, and represent the vector of diagonal CA, and represent the vector of diagonal BD, and represent the vector of diagonal DB; represents the arctangent function; represents rotation around the Z axis, represents the azimuth angle of the space turntable, represents the pitch angle of the space turntable. Among them, respectively represent the four vertices of the rectangular field of view of the space turntable.

[0070] Calculate the included angles between the four vectors and the optimal orientation vector of the space turntable field of view diagonal plane respectively. Specifically, it is expressed by the formula:

[0071] In the formula, represents the dot product (inner product) between the vector and the vector ; represents the modulus length of the vector, represents the arccosine function, represents the th diagonal vector; represents the optimal orientation vector of the space turntable field of view diagonal plane; represents the included angle between the th diagonal vector and the optimal orientation vector of the space turntable field of view diagonal plane. Among them, indicates The value of has only four values.

[0072] Select four vector vectors , , , The direction of the vector vector corresponding to the minimum angle between and the optimal orientation vector of the diagonal plane of the space turntable field of view is denoted as the optimal vector direction.

[0073] Through , and , obtain the optimal vector matrix in the optimal coverage rectangular cone field of view coordinate system ; then obtain the initial attitude matrix of the target star in the rectangular cone field of view coordinate system ; according to the initial attitude matrix of the target star in the rectangular cone field of view coordinate system reach the optimal vector matrix in the optimal coverage rectangular cone field of view coordinate system , calculate the required rectangular field of view transformation matrix; specifically expressed by the formula:

[0074]

[0075] In the formula, , and respectively represent The projections on each axis of the J2000 coordinate system, , and respectively represent The projections on each axis of the J2000 coordinate system, , and respectively represent The projections on each axis of the J2000 coordinate system; represents the optimal vector matrix in the optimal coverage rectangular cone field of view coordinate system , represents the initial attitude matrix of the target star in the rectangular cone field of view coordinate system ; represents the matrix inversion function; represents the rectangular field of view transformation matrix from the initial attitude of the target star to the optimal attitude; represents the transition matrix of the rectangular field of view transformation matrix from the initial attitude of the target star to the optimal attitude.

[0076] Among them, the optimal vector matrix is the conversion matrix from the optimal coverage rectangular cone field of view coordinate system to the inertial reference system.

[0077] So far, the rectangular field of view conversion matrix between the initial attitude and the optimal attitude of the target star is obtained.

[0078] According to the rectangular field of view conversion matrix between the initial attitude and the optimal attitude of the target star, through the Euler angle rotation sequence, the three optimal rotation parameter angles in the process of obtaining the rotation attitude matrix of this satellite at the reference time relative to the J2000 coordinate system are obtained.

[0079] According to the three optimal rotation parameter angles, this satellite is rotated through the Euler angle rotation sequence to obtain the attitude of this satellite after rotation adjustment.

[0080] So far, the adjustment of this satellite platform is completed.

[0081] Step S004: According to the optimal vector direction, the attitude of this satellite after rotation adjustment, the installation relationship matrix, the conversion relationship matrix, and the relative position relationship between this satellite and the target star, perform long-term staring of the turntable of this satellite at the target star.

[0082] First, according to the optimal coverage rectangular cone field of view coordinate system in the axis determines the initial position of the space turntable to point to one of the four vertices in the rectangular field of view, denoted as the reference point.

[0083] Then, when the target star enters the rectangular field of view at the reference point, the space turntable electric control box is started. According to the optimal vector direction, the attitude of this satellite after rotation adjustment, the installation relationship matrix between this satellite and the corresponding space turntable, the conversion relationship matrix between the space turntable and the rectangular cone field of view and the relative position relationship between this satellite and the target star, perform long-term staring of the turntable of this satellite at the target star; that is, make the visual axis of the space turntable of this satellite continuously point to and track the target star, and transmit data or take pictures while the target star crosses the maneuvering range rectangular field of view of the space turntable along the longest path. Among them, the schematic diagram of the best flight trajectory of the target star in the rectangular cone field of view is as Figure 6 shown. Among them, Figure 6 in represents the Y-axis in the rectangular cone field of view coordinate system, Figure 6 in represents the Z-axis in the rectangular cone field of view coordinate system.

[0084] As Figure 2 shown, the second aspect of the present invention is to provide a spaceborne coupling control system for long-term staring between satellites in different orbital planes, including the following modules: Coordinate relationship construction module 101: It is used to construct the space turntable coordinate system and the rectangular cone field of view coordinate system of this satellite, obtain the installation relationship matrix between this satellite and the corresponding space turntable; obtain the rotation attitude matrix of this satellite at each moment; obtain the conversion relationship matrix between the space turntable coordinate system and the rectangular cone field of view coordinate system; Off-orbit plane satellite position relationship module 102: It is used to obtain the closest distance between this satellite and the target satellite at several subsequent moments; record the moment corresponding to the closest distance between this satellite and the target satellite as the reference moment; Attitude analysis and adjustment module 103: It is used to obtain the optimal orientation vector of the space turntable optical axis and the optimal orientation vector of the diagonal plane of the space turntable field of view according to the rotation attitude matrix of this satellite at the reference moment; obtain the optimal vector matrix in the optimal coverage rectangular cone field of view coordinate system according to the optimal orientation vector of the space turntable optical axis and the optimal orientation vector of the diagonal plane of the space turntable field of view; obtain the optimal vector direction according to the relationship between the diagonal line in the diagonal plane of the space turntable field of view and the optimal orientation vector of the diagonal plane of the space turntable field of view; obtain the initial attitude matrix of the target satellite in the rectangular cone field of view coordinate system, and obtain the rectangular field of view conversion matrix between the initial attitude and the optimal attitude of the target satellite according to the initial attitude matrix and the optimal vector matrix; obtain the optimal rotation parameter angle according to the rectangular field of view conversion matrix, and rotate this satellite through the optimal rotation parameter angle to obtain the attitude of this satellite after rotation adjustment; Tracking and staring module 104: It is used to perform long-term staring of the turntable of this satellite at the target satellite according to the optimal vector direction, the attitude of this satellite after rotation adjustment, the installation relationship matrix, the conversion relationship matrix, and the relative position relationship between this satellite and the target satellite.

[0085] Those skilled in the art should understand that the embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, optical storage, etc.) containing computer-usable program code.

[0086] The present invention is described with reference to the flowcharts and / or block diagrams of methods, systems, and computer program products according to the embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, and the combination of processes and / or blocks in the flowchart and / or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate for implementation in the processFigure 1 one or more processes and / or blocks Figure 1 means for the functions specified in one or more blocks

[0087] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory produce a manufactured article including an instruction means that implements the processes Figure 1 one or more processes and / or blocks Figure 1 the functions specified in one or more blocks

[0088] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operational steps are performed on the computer or other programmable device to produce a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in the processes Figure 1 one or more processes and / or blocks Figure 1 the functions specified in one or more blocks

[0089] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: modifications or equivalent replacements can still be made to the specific implementation manners of the present invention, and any modifications or equivalent replacements that do not depart from the spirit and scope of the present invention should be covered by the protection scope of the present invention.

Claims

1. A space - borne coupling control method for long - time staring between non - coplanar satellites, characterized in that, Including: Construct the space turntable coordinate system and the rectangular cone field of view coordinate system of this satellite, and obtain the installation relationship matrix between this satellite and the corresponding space turntable; Obtain the rotation attitude matrix of this satellite at each moment; obtain the conversion relationship matrix between the space turntable coordinate system and the rectangular cone field of view coordinate system; Obtain the closest distance between this satellite and the target satellite at several subsequent moments; record the moment corresponding to the closest distance between this satellite and the target satellite as the reference moment; According to the rotation attitude matrix of this satellite at the reference moment, obtain the optimal orientation vector of the space turntable optical axis and the optimal orientation vector of the diagonal plane of the space turntable field of view; according to the optimal orientation vector of the space turntable optical axis and the optimal orientation vector of the diagonal plane of the space turntable field of view, obtain the optimal vector matrix in the optimal coverage rectangular cone field of view coordinate system; according to the relationship between the diagonal in the diagonal plane of the space turntable field of view and the optimal orientation vector of the diagonal plane of the space turntable field of view, obtain the optimal vector direction; obtain the initial attitude matrix of the target satellite in the rectangular cone field of view coordinate system, and according to the initial attitude matrix and the optimal vector matrix, obtain the rectangular field of view conversion matrix between the initial attitude and the optimal attitude of the target satellite; obtain the optimal rotation parameter angle according to the rectangular field of view conversion matrix, and rotate this satellite by the optimal rotation parameter angle to obtain the attitude of this satellite after rotation adjustment; According to the optimal vector direction, the attitude of this satellite after rotation adjustment, the installation relationship matrix, the conversion relationship matrix, and the relative position relationship between this satellite and the target satellite, perform long-term staring of the turntable of this satellite at the target satellite.

2. The on-orbit coupling control method for long-time staring between satellites with different orbital planes according to claim 1, wherein The construction of the space turntable coordinate system and the rectangular cone field of view coordinate system of this satellite, and the obtaining of the installation relationship matrix between this satellite and the corresponding space turntable include: Spatial turntable coordinate system in the axis is the line of sight axis of the spatial turntable, the axis is parallel to the pitch axis of the spatial turntable, the axis is parallel to the azimuth axis of the spatial turntable; Rectangular pyramid field of view coordinate system The coordinate origin of coincides with the origin of the space turntable coordinate system , The axis coincides with the axis of the space turntable coordinate system, The axis is parallel to the diagonal plane of the rectangular field of view, The axis is perpendicular to axis and axis, and intersects at ; The installation relationship matrix between this satellite and the corresponding space turntable is: In the formula, represents the matrix of the installation relationship between this satellite and the corresponding space turntable.

3. A satellite-borne coupling control method for long-time staring between satellites with different orbital planes according to claim 2, characterized in that, The obtaining of the rotation attitude matrix of this satellite at each moment; Obtaining the conversion relationship matrix between the space turntable coordinate system and the rectangular cone field of view coordinate system includes: Using the Euler angle rotation sequence by the on-board computer, obtain the rotation attitude matrix of each satellite relative to the J2000 coordinate system at each moment; the on-board computer is installed inside the satellite platform cabin; where each satellite corresponds to a satellite platform cabin; In the formula, Represents the spatial turntable coordinate system and rectangular cone view coordinate system The conversion relationship matrix between represents the cosine function, represents the sine function, represents the inverse tangent function, represents the azimuth of the space turntable, Indicates the pitch angle of the space turntable; Indicates rotation around the Z axis.

4. A satellite-borne coupling control method for long-time staring between satellites with different orbital planes according to claim 1, characterized in that The obtaining of the closest distance between this satellite and the target satellite at several subsequent moments includes: Obtain the positions and velocities of this satellite and the target satellite corresponding in the J2000 coordinate system at each moment; According to the position of this star in the J2000 coordinate system and velocity , the position of the target star in the J2000 coordinate system and velocity , through the Earth's J2 perturbation model and the fourth-order Runge-Kutta numerical integration method, the positions and velocities of this star and the target star in the J2000 coordinate system at each subsequent moment are obtained; Among them, represents the position of this satellite at time corresponding to the J2000 coordinate system; represents the position of the target satellite at time corresponding to the J2000 coordinate system; represents the velocity of this satellite at time corresponding to the J2000 coordinate system; represents the velocity of the target satellite at time corresponding to the J2000 coordinate system; In the formula, represents the distance between this satellite and the target satellite at each subsequent moment; , and represent the numerical values corresponding to each axis of this satellite in the J2000 coordinate system, , and represent the numerical values corresponding to each axis of the target satellite in the J2000 coordinate system; According to several subsequent moments, select the closest distance between this satellite and the target satellite; where the specific process of selecting the closest distance between this satellite and the target satellite is: Step 1, starting from time ; Determine the difference in the distance between the local star and the target star at each moment and the next moment. When the distance between the local star and the target star at each moment is less than or equal to the distance between the local star and the target star at the next moment, then record the distance between the local star and the target star at each moment as the closest distance between the local star and the target star, and end the loop; otherwise, execute Step 2; Step 2: Increment the time by 1, make a judgment at time , and then go back to Step 1.

5. The satellite-borne coupling control method for long-time staring between satellites with different orbital planes according to claim 4, characterized in that The specific obtaining process of the optimal orientation vector of the space turntable optical axis is: In the formula, represents the rotation attitude matrix of this satellite at the reference time relative to the J2000 coordinate system, represents at the reference time the position of the target satellite corresponding in the J2000 coordinate system, represents at the reference time the position of this satellite corresponding in the J2000 coordinate system, represents at the reference time the value of the position of the target satellite corresponding in the J2000 coordinate system on the axis, represents at the reference time the value of the position of the target satellite corresponding in the J2000 coordinate system on the axis, represents at the reference time the value of the position of the target satellite corresponding in the J2000 coordinate system on the axis, represents at the reference time the value of the position of this satellite corresponding in the J2000 coordinate system on the axis, represents at the reference time the value of the position of this satellite corresponding in the J2000 coordinate system on the axis, represents at the reference time the value of the position of this satellite corresponding in the J2000 coordinate system on the axis; represents the optimal orientation vector of the line of sight axis of the space turntable, used to ensure that the turntable points to the target satellite at the closest distance when in the initial position; 、 and respectively represent the projections on each axis of the J2000 coordinate system.

6. The on-orbit coupling control method for long-time staring between satellites with different orbital planes according to claim 5, characterized in that, The specific obtaining process of the optimal orientation vector of the diagonal plane of the space turntable field of view is: In the formula, represents the velocity of the target star at the reference time in the J2000 coordinate system, represents the velocity of this star at the reference time in the J2000 coordinate system; represents the value of the velocity of the target star at the reference time in the J2000 coordinate system on the axis, represents the value of the velocity of the target star at the reference time in the J2000 coordinate system on the axis, represents the value of the velocity of the target star at the reference time in the J2000 coordinate system on the axis, represents the value of the velocity of this star at the reference time in the J2000 coordinate system on the axis, represents the value of the velocity of this star at the reference time in the J2000 coordinate system on the axis, represents the value of the velocity of this star at the reference time in the J2000 coordinate system on the axis; represents the optimal orientation vector of the diagonal plane of the space turntable field of view, which is used to ensure that the flight trajectory of the target star is parallel to the diagonal plane of the field of view, so as to maximize the dwell time of the target star in the field of view; , and respectively represent the projections of on each axis of the J2000 coordinate system.

7. A satellite-borne coupling control method for long-time staring between satellites with different orbital planes according to claim 6, characterized in that, The obtaining of the optimal vector matrix in the optimal coverage rectangular cone field of view coordinate system according to the optimal orientation vector of the space turntable optical axis and the optimal orientation vector of the diagonal plane of the space turntable field of view includes: According to the optimal orientation vector of the line of sight of the space turntable and the optimal orientation vector of the diagonal plane of the field of view of the space turntable , the specific formula for obtaining another optimal orientation vector in the optimal coverage rectangular cone field of view coordinate system is expressed as follows: In the formula, represents the corresponding orientation vector in the optimal coverage rectangular cone field of view coordinate system , , and respectively represent the projections of on each axis of the J2000 coordinate system; represents the cross product operation between and ; The optimal vector matrix in the optimal coverage rectangular cone field of view coordinate system is expressed as: 。 8. The on-orbit coupling control method for long-time staring between satellites with different orbital planes according to claim 1, characterized in that Obtaining the optimal vector direction according to the relationship between the diagonal line in the diagonal plane of the space turntable field of view and the optimal orientation vector of the diagonal plane of the space turntable field of view includes: Obtaining four vectors of the diagonal plane of the space turntable field of view; the four vectors are respectively represented by the following formulas: In the formula, and represent the vectors of the diagonal AC, and represent the vectors of the diagonal CA, and represent the vectors of the diagonal BD, and represent the vectors of the diagonal DB; represents the arctangent function; represents rotation about the Z-axis, represents the azimuth angle of the spatial turntable, represents the pitch angle of the spatial turntable; where respectively represent the four vertices of the rectangular field of view of the spatial turntable; By calculating the angles between four vectors and the optimal orientation vector of the diagonal plane of the spatial turntable field of view respectively, which is specifically expressed by the formula as follows: ​ In the formula, represents the dot product between vector and vector represents the magnitude of the vector, represents the arccosine function, represents the th diagonal vector; represents the optimal orientation vector of the diagonal plane of the space turntable field of view; represents the th angle between the diagonal vector and the optimal orientation vector of the diagonal plane of the space turntable field of view; where represents has only four values; Select four vector vectors , , , The direction of the vector corresponding to the minimum angle between the optimal orientation vector of the space turntable field-of-view diagonal plane is denoted as the optimal vector direction.

9. The on-orbit coupling control method for long-time staring between satellites with different orbital planes according to claim 1, wherein Obtaining the rectangular field of view conversion matrix between the initial attitude of the target star and the optimal attitude according to the initial attitude matrix and the optimal vector matrix; obtaining the optimal rotation parameter angle according to the rectangular field of view conversion matrix, and rotating the satellite itself by the optimal rotation parameter angle to obtain the attitude of the satellite itself after rotation adjustment, including: In the formula, , and respectively represent the projections on the respective axes of the J2000 coordinate system, , and respectively represent the projections on the respective axes of the J2000 coordinate system, , and respectively represent the projections on the respective axes of the J2000 coordinate system; represents the optimal vector matrix in the optimal coverage rectangular cone field-of-view coordinate system , represents the initial attitude matrix of the target star in the rectangular cone field-of-view coordinate system ; represents the matrix inversion function; represents the rectangular field-of-view transformation matrix from the initial attitude to the optimal attitude of the target star; represents the transition matrix of the rectangular field-of-view transformation matrix from the initial attitude to the optimal attitude of the target star; According to the rectangular field of view conversion matrix between the initial attitude and the optimal attitude of the target star, through the Euler angle rotation sequence, the rotation attitude matrix of this satellite relative to the J2000 coordinate system at the reference time is obtained, and three optimal rotation parameter angles in the process are obtained. At the reference time Three optimal rotation parameter angles in the process of obtaining the rotation attitude matrix relative to the J2000 coordinate system. Rotating the satellite itself according to three optimal rotation parameter angles through the Euler angle rotation sequence to obtain the attitude of the satellite itself after rotation adjustment.

10. A satellite-borne coupled control system for long-term staring between satellites on different orbital planes, characterized in that, Including: Coordinate relationship construction module: used to construct the space turntable coordinate system and the rectangular cone field of view coordinate system of the satellite itself, and obtain the installation relationship matrix between the satellite itself and the corresponding space turntable; Obtaining the rotation attitude matrix of the satellite itself at each moment; obtaining the conversion relationship matrix between the space turntable coordinate system and the rectangular cone field of view coordinate system; Off-orbit plane satellite position relationship module: used to obtain the closest distance between the satellite itself and the target star at several subsequent moments; recording the moment corresponding to the closest distance between the satellite itself and the target star as the reference moment; Attitude analysis and adjustment module: used to obtain the optimal orientation vector of the space turntable optical axis and the optimal orientation vector of the diagonal plane of the space turntable field of view according to the rotation attitude matrix of the satellite itself at the reference moment; obtaining the optimal vector matrix in the optimal coverage rectangular cone field of view coordinate system according to the optimal orientation vector of the space turntable optical axis and the optimal orientation vector of the diagonal plane of the space turntable field of view; obtaining the optimal vector direction according to the relationship between the diagonal line in the diagonal plane of the space turntable field of view and the optimal orientation vector of the diagonal plane of the space turntable field of view; obtaining the initial attitude matrix of the target star in the rectangular cone field of view coordinate system, and obtaining the rectangular field of view conversion matrix between the initial attitude and the optimal attitude of the target star according to the initial attitude matrix and the optimal vector matrix; obtaining the optimal rotation parameter angle according to the rectangular field of view conversion matrix, and rotating the satellite itself by the optimal rotation parameter angle to obtain the attitude of the satellite itself after rotation adjustment; Tracking and staring module: used to perform long-term staring of the satellite turntable at the target star according to the optimal vector direction, the attitude of the satellite itself after rotation adjustment, the installation relationship matrix, the conversion relationship matrix, and the relative position relationship between the satellite itself and the target star.

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