A satellite-onboard coupling control method and system for long-term staring between satellites in different orbital planes

Abstract

The present invention relates to the field of automatic control technology, and more specifically to a satellite-onboard coupling control method and system for long-term staring between satellites in different orbits. The method comprises: determining a reference time based on the relative position relationship between a host satellite and a target satellite; obtaining an optimal vector matrix based on the position and velocity relationship between the host satellite and the target satellite at the reference time; obtaining an optimal vector direction based on the relationship between a diagonal in a diagonal plane of the field of view of a space turntable and an optimal orientation vector of the diagonal plane of the field of view of the space turntable; obtaining the attitude of the host satellite after rotation adjustment based on an initial attitude matrix and an optimal vector matrix; and performing a long-term staring of the host satellite turntable at the target satellite based on the optimal vector direction, the attitude of the host satellite after rotation adjustment, an installation relationship matrix, a conversion relationship matrix, and the relative position relationship between the host satellite and the target satellite. The present invention optimizes the staring duration between satellites in different orbits and improves the performance of information data transmission.

Description

Technical Field

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

[0002] When satellites in different orbits engage in long-term gaze, they do so through attitude adjustments and the pointing of their space turntables. Due to their flexibility and maneuverability, space turntables have become a core tool for high-precision, high-dynamic tracking in space. For example, mobile optical communication terminals, commonly used in mega-constellations, expand the field of view of optical communications by hundreds of times, reaching tens of degrees, by maneuvering two-dimensional turntables. However, satellites orbit independently around the Earth's center. With the exception of a very small number of satellites deployed in the same orbital plane as their host satellite, the orbits of over 99.5% of any satellites in a different orbital plane cannot be parallel, and their resulting trajectories will intersect. By designing their orbital altitudes and phases, two satellites in different orbits can reach the intersection point at different times, thus avoiding orbital collisions.

[0003] However, due to temporal and spatial misalignment, using traditional satellite three-axis stabilized Earth-directed attitude control strategies, the target satellite's trajectory only briefly crosses the host satellite's space turntable's maneuvering range. In most cases, the target satellite's trajectory never crosses the turntable's maneuvering range. For space laser communication terminals, the time the target satellite remains within the turntable's maneuvering range limits the data capacity of inter-satellite communications. For space observation terminals, the time the target satellite remains within the turntable's maneuvering range limits the number of images that can be captured. The shorter the target satellite's time within the turntable's maneuvering range, the less information data is transmitted between the two satellites, and the fewer images that can be captured. To address the problem that the target satellite spends a short time passing through the maneuvering range of the space turntable of this satellite, although the orbital positions of the two satellites can be adjusted to achieve the optimal position of the space turntable when the target satellite passes through this satellite, due to the constraints of space orbital dynamics, a large amount of fuel resources and time costs are required when making the optimal position adjustment; and satellite attitude adjustment often only requires renewable electricity provided by the satellite's solar panels. Therefore, by optimizing and controlling the attitude maneuver of this satellite and adjusting the center pointing and coverage direction of the effective working range of the space turntable, the trajectory of the target satellite can be made to stay within the maneuvering range of the space turntable for the longest time, thereby achieving better cost-effectiveness. Summary of the Invention

[0004] The present invention provides a satellite-onboard coupling control method and system for long-term staring between satellites on different orbital planes, which are used to solve the existing problems.

[0005] The purpose of the present invention can be achieved through the following technical solutions:

[0006] The first aspect of the present invention is to provide a satellite-onboard coupling control method for long-term staring between satellites in different orbital planes, comprising:

[0007] Construct the local satellite's space turntable coordinate system and rectangular cone field of view coordinate system, obtain the installation relationship matrix between the local satellite and the corresponding space turntable; obtain the local satellite's rotation attitude matrix at each moment; obtain the conversion relationship matrix between the space turntable coordinate system and the rectangular cone field of view coordinate system;

[0008] Obtain the minimum distance between the local star and the target star at several subsequent moments; record the moment corresponding to the minimum distance between the local star and the target star as the reference moment;

[0009] According to the rotation attitude matrix of the local satellite at the reference time, the optimal orientation vector of the spatial turntable's visual axis and the optimal orientation vector of the spatial turntable's field of view diagonal plane are obtained; according to the optimal orientation vector of the spatial turntable's visual axis and the optimal orientation vector of the spatial turntable's field of view diagonal plane, the optimal vector matrix in the optimal coverage rectangular cone field of view coordinate system is obtained; according to the relationship between the diagonal in the spatial turntable's field of view diagonal plane and the optimal orientation vector of the spatial turntable's field of view diagonal plane, the optimal vector direction is obtained; the initial attitude matrix of the target star 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 star is obtained; according to the rectangular field of view conversion matrix, the optimal rotation parameter angle is obtained, and the local satellite is rotated by the optimal rotation parameter angle to obtain the attitude of the local satellite after rotation adjustment;

[0010] According to the optimal vector direction, the posture of the host star after rotation adjustment, the installation relationship matrix, the conversion relationship matrix and the relative position relationship between the host star and the target star, the host star turntable performs a long-term staring at the target star.

[0011] Furthermore, the process of constructing the local satellite's space turntable coordinate system and rectangular cone field of view coordinate system and obtaining the installation relationship matrix between the local satellite and the corresponding space turntable includes:

[0012] Space turntable coordinate system in The axis is the visual axis of the space turntable. The axis is parallel to the pitch axis of the space turntable. The axis is parallel to the azimuth axis of the space turntable;

[0013] Rectangular cone field of view coordinate system The coordinate origin and the origin of the spatial turntable coordinate system coincide, Axis and space turntable coordinate system Axis coincidence, The axis is parallel to the diagonal plane of the rectangular field of view, Axis perpendicular to Axis and axis, and intersects at ;

[0014] The installation relationship matrix between this satellite and the corresponding space turntable is:

[0015]

[0016] Where, Indicates this star With the corresponding space turntable The installation relationship matrix between them.

[0017] Furthermore, the step of obtaining the rotation attitude matrix of the satellite at each moment and obtaining the conversion relationship matrix between the space turntable coordinate system and the rectangular cone field of view coordinate system includes:

[0018] Obtaining the rotation attitude matrix of each satellite relative to the J2000 coordinate system at each moment by using the Euler angle rotation sequence through a satellite service computer installed inside a satellite platform cabin; wherein each satellite corresponds to a satellite platform cabin;

[0019]

[0020] Where, 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.

[0021] Furthermore, obtaining the minimum distance between the local star and the target star at a plurality of subsequent moments includes:

[0022] Obtain the position and velocity of the local and target satellites in the J2000 coordinate system at each moment;

[0023] According to the position of this star in the J2000 coordinate system and speed , the position of the target star corresponding to the J2000 coordinate system and speed , through the Earth J2 perturbation model and the fourth-order Runge-Kutta numerical integration method, the position and velocity of the local and target satellites in the J2000 coordinate system are obtained at each subsequent moment;

[0024] 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 Corresponding to the velocity in the J2000 coordinate system; Indicates at time , target star Corresponding to the velocity in the J2000 coordinate system;

[0025]

[0026] Where, Indicates that at each subsequent moment, the planet With target star the distance between them; 、 and Indicates this star The values corresponding to each axis in the J2000 coordinate system, 、 and Indicates the target star The corresponding values of each axis in the J2000 coordinate system;

[0027] The minimum distance between the local star and the target star is selected based on several subsequent moments. The specific process of selecting the minimum distance between the local star and the target star is as follows:

[0028] Step 1: From the moment Start; 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, record the distance between the local star and the target star at each moment as the minimum distance between the local star and the target star, and end the loop; otherwise, execute step 2;

[0029] Step 2: Set the time Add 1, progress time Then return to step 1.

[0030] Furthermore, the specific process of obtaining the optimal orientation vector of the spatial turntable's visual axis is as follows:

[0031]

[0032] Where, Indicates this star At the reference time The rotation attitude matrix relative to the J2000 coordinate system, Indicates the reference time When the target star Corresponding to the position in the J2000 coordinate system, Indicates the reference time When this planet Corresponding to the position in the J2000 coordinate system, Indicates the reference time When the target star The corresponding position in the J2000 coordinate system is The value of the axis, Indicates the reference time When the target star The corresponding position in the J2000 coordinate system is The value of the axis, Indicates the reference time When the target star The corresponding position in the J2000 coordinate system is The value of the axis, Indicates the reference time When this planet The corresponding position in the J2000 coordinate system is The value of the axis, Indicates the reference time When this planet The corresponding position in the J2000 coordinate system is The value of the axis, Indicates the reference time When this planet The corresponding position in the J2000 coordinate system is The numerical value of the axis; The optimal orientation vector of the space turntable's visual axis is used to ensure that the turntable points to the closest distance to the target star at the initial position; 、 and Respectively Projections onto the axes of the J2000 coordinate system.

[0033] Furthermore, the specific process of obtaining the optimal orientation vector of the diagonal plane of the field of view of the spatial turntable is as follows:

[0034]

[0035] Where, Indicates the reference time When the target star Corresponding to the speed in the J2000 coordinate system, Indicates the reference time When this planet Corresponding to the velocity in the J2000 coordinate system; Indicates the reference time When the target star The corresponding speed in the J2000 coordinate system is The value of the axis, Indicates the reference time When the target star The corresponding speed in the J2000 coordinate system is The value of the axis, Indicates the reference time When the target star The corresponding speed in the J2000 coordinate system is The value of the axis, Indicates the reference time When this planet The corresponding speed in the J2000 coordinate system is The value of the axis, Indicates the reference time When this planet The corresponding speed in the J2000 coordinate system is The value of the axis, Indicates the reference time When this planet The corresponding speed in the J2000 coordinate system is The numerical value of the axis; The optimal orientation vector of the diagonal plane of the field of view of the space turntable is used to ensure that the flight trajectory of the target star is parallel to the diagonal plane of the field of view, thereby maximizing the target star's residence time in the field of view; 、 and Respectively Projections onto the axes of the J2000 coordinate system.

[0036] Furthermore, the method of obtaining the optimal vector matrix in the optimal coverage rectangular cone field of view coordinate system according to the optimal orientation vector of the spatial turntable's viewing axis and the optimal orientation vector of the spatial turntable's field of view diagonal plane includes:

[0037] According to the optimal orientation vector of the spatial turntable's visual axis , the optimal orientation vector of the diagonal plane of the spatial turntable field of view , obtain the optimal coverage rectangular cone field of view coordinate system Another optimal orientation vector in is specifically expressed as follows:

[0038]

[0039] Where, Represents the optimal coverage rectangular cone field of view coordinate system The corresponding heading vector, 、 and Respectively Projections on the axes of the J2000 coordinate system; express and Cross product operation between ;

[0040] The optimal vector matrix in the optimal coverage rectangular cone field of view coordinate system is expressed as:

[0041] .

[0042] Furthermore, obtaining the optimal vector direction according to the relationship between the diagonal line in the diagonal plane of the spatial turntable field of view and the optimal orientation vector of the diagonal plane of the spatial turntable field of view includes:

[0043] Obtain four vectors of the diagonal plane of the field of view of the spatial turntable; the four vectors are respectively expressed by the formula:

[0044]

[0045] Where, and represents the vector of the diagonal line AC, and represents the vector of the diagonal CA, and The vector representing the diagonal line BD, and The vector representing the diagonal DB; represents the inverse tangent function; Indicates rotation around the Z axis, represents the azimuth of the space turntable, represents the pitch angle of the space turntable; They represent the four vertices of the rectangular field of view of the space turntable;

[0046] The optimal orientation vector of the diagonal plane of the field of view of the spatial turntable is obtained by four vectors. The angle between them is calculated, which can be expressed as follows:

[0047]

[0048] Where, Represents a vector With vector The dot product between represents the modulus of the vector, represents the inverse cosine function, Indicates the diagonal vectors; Represents the optimal orientation vector of the diagonal plane of the spatial turntable's field of view; Indicates the The angle between the diagonal vector and the optimal orientation vector of the diagonal plane of the field of view of the spatial turntable; express The value of is only The four values of ;

[0049] Select four vectors 、 、 、 The direction of the vector corresponding to the minimum angle between the optimal orientation vectors of the diagonal plane of the field of view of the spatial turntable is recorded as the optimal vector direction.

[0050] Furthermore, the method of obtaining a 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 an optimal rotation parameter angle according to the rectangular field of view conversion matrix, rotating the host star according to the optimal rotation parameter angle, and obtaining the attitude of the host star after rotation adjustment includes:

[0051]

[0052]

[0053] Where, 、 and Respectively The projection on each axis of the J2000 coordinate system, 、 and Respectively The projection on each axis of the J2000 coordinate system, 、 and Respectively Projections on the axes of the J2000 coordinate system; Represents the optimal coverage rectangular cone field of view coordinate system The optimal vector matrix in , Represents the rectangular cone field of view coordinate system The initial attitude matrix of the target star; Represents the matrix inversion function; Represents the rectangular field of view transformation matrix between the initial attitude and the optimal attitude of the target star; The transition matrix representing the rectangular field of view transformation matrix between the initial attitude of the target star and the optimal attitude;

[0054] According to the rectangular field transformation matrix between the initial attitude of the target star and the optimal attitude, the local star is obtained through the Euler angle rotation sequence. At the reference time The three optimal rotation parameter angles in the process of obtaining the rotation attitude matrix relative to the J2000 coordinate system;

[0055] According to the three optimal rotation parameter angles, the local satellite is rotated through the Euler angle rotation sequence to obtain the attitude of the local satellite after rotation adjustment.

[0056] The second aspect of the present invention is to provide a satellite-onboard coupling control system for long-term staring between satellites in different orbital planes, comprising:

[0057] Coordinate relationship construction module: used to construct the local satellite's space turntable coordinate system and rectangular cone field of view coordinate system, obtain the installation relationship matrix between the local satellite and the corresponding space turntable; obtain the local satellite's rotation attitude matrix at each moment; obtain the conversion relationship matrix between the space turntable coordinate system and the rectangular cone field of view coordinate system;

[0058] Different-orbit satellite position relationship module: used to obtain the minimum distance between the local satellite and the target satellite at several subsequent moments; the moment corresponding to the minimum distance between the local satellite and the target satellite is recorded as the reference moment;

[0059] Attitude analysis and adjustment module: used to obtain the optimal orientation vector of the space turntable's visual axis and the optimal orientation vector of the space turntable's field of view diagonal plane according to the rotation attitude matrix of the local satellite at the reference time; 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's visual axis and the optimal orientation vector of the space turntable's field of view diagonal plane; obtain the optimal vector direction according to the relationship between the diagonal in the space turntable's field of view diagonal plane and the optimal orientation vector of the space turntable's field of view diagonal plane; obtain the initial attitude matrix of the target star in the rectangular cone field of view coordinate system, and obtain 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; obtain the optimal rotation parameter angle according to the rectangular field of view conversion matrix, rotate the local satellite according to the optimal rotation parameter angle, and obtain the attitude of the local satellite after rotation adjustment;

[0060] Tracking and gazing module: used to perform long-term gazing of the local satellite turntable on the target star based on the optimal vector direction, the posture of the local satellite after rotation adjustment, the installation relationship matrix, the conversion relationship matrix and the relative position relationship between the local satellite and the target star.

[0061] 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 local satellite, the installation relationship matrix between the local satellite and the corresponding space turntable is obtained; the rotation attitude matrix of the local 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, thereby improving the accuracy of the analysis of each coordinate system and between each coordinate system; the closest distance between the local satellite and the target star at several subsequent moments is obtained; the moment corresponding to the closest distance between the local satellite and the target star is recorded as the reference moment, thereby improving the accuracy of the analysis of the optimal gaze time for the target star to optimally enter the field of view range; according to the position relationship and speed relationship between the local satellite and the target star in the J2000 coordinate system at the reference moment, the optimal vector matrix in the optimally covered rectangular cone field of view coordinate system is obtained, thereby improving The accuracy of the analysis of the adjustment of the satellite's attitude to the optimal attitude; obtaining the optimal vector direction based on the relationship between the diagonal in the diagonal plane of the space turntable's field of view and the optimal orientation vector of the diagonal plane of the space turntable's 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 based on the initial attitude matrix and the optimal vector matrix; obtaining the optimal rotation parameter angle based on the rectangular field of view conversion matrix, rotating the satellite by the optimal rotation parameter angle, and obtaining the attitude of the satellite after rotation adjustment, thereby improving the accuracy of the adjustment of the satellite's attitude; based on the optimal vector direction, the attitude of the satellite after rotation adjustment, the installation relationship matrix, the conversion relationship matrix and the relative position relationship between the satellite and the target star, the satellite turntable performs a long-term staring of the target star, thereby optimizing the staring time and improving the performance of information data transmission. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0063] Figure 1 The present invention provides a schematic flow chart of the steps of a satellite-onboard coupling control method for long-term staring between satellites in different orbital planes;

[0064] Figure 2 The present invention provides a module flow diagram of a satellite-onboard coupling control system for long-term staring between satellites in different orbital planes;

[0065] Figure 3 This is a schematic diagram of the composition of our star system;

[0066] Figure 4 Schematic diagram of the positional relationship between the satellite body and the space turntable;

[0067] Figure 5 Schematic diagram of the target star's flight trajectory in the rectangular cone field of view;

[0068] Figure 6 Schematic diagram of the optimal flight trajectory of the target star in the rectangular cone field of view. DETAILED DESCRIPTION

[0069] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0070] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0071] In response to the problems existing in the background technology, a satellite-onboard coupling control method and system for long-term staring between satellites in different orbits were studied and designed, which has important practical significance.

[0072] like Figure 1 As shown, the first aspect of the present invention is to provide a satellite-onboard coupling control method for long-term staring between satellites in different orbital planes, comprising the following steps:

[0073] Step S001: construct several different coordinate systems and determine the relationship matrix between the coordinate systems.

[0074] It should be noted that in this embodiment, a space turntable is installed on the surface of the local satellite. By adjusting the attitude of the local satellite's space turntable, the target satellite with a different orbital plane from the local satellite passes through the maneuvering range of the local satellite's space turntable for the longest time, thereby increasing the visibility time between the local satellite and the target satellite. The local satellite is a satellite with an attitude adjustment function, and the target satellite is another satellite. The schematic diagram of the local satellite system is shown in FIG. Figure 3 As shown; the satellite system consists of a satellite platform cabin 1, a space turntable 2, a satellite service computer 3 and a space turntable electrical control box 4; the field of view of the space turntable 2 is a rectangular cone field of view 5; the satellite service computer 3 and the space turntable electrical control box 4 are installed inside the satellite platform cabin 1, and the satellite platform cabin 1 and the space turntable 2 are connected.

[0075] It should be further explained 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 by the installation structure between the satellite and the space turntable. Figure 4 shown; among them, Figure 4 It includes a satellite body 6 and a space turntable 7; the satellite body 6 represents the X axis in the body coordinate system, and the satellite body 6 Represents the Z axis in the body coordinate system; represents the X axis in the spatial turntable coordinate system, and the spatial turntable 7 Indicates the Z axis in the space turntable coordinate system. The corresponding coordinate system.

[0076] Specifically, construct a spatial turntable coordinate system ,in, The axis is the visual axis of the space turntable. The axis is parallel to the pitch axis of the space turntable. The axis is parallel to the azimuth axis of the space turntable. The installation relationship matrix between the local satellite and the corresponding space turntable is determined by the installation structure between the local satellite and the corresponding space turntable. Among them, there are many installation structures between the local satellite and the space turntable. This embodiment describes and illustrates one of the following installation structures.

[0077] In this embodiment, the installation relationship matrix between the satellite and the corresponding space turntable is expressed as:

[0078]

[0079] Where, Indicates this star With the corresponding space turntable The installation relationship matrix between them.

[0080] 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.

[0081] It should be noted that the satellite platform cabin is equipped with a satellite service computer and a space turntable electrical control box; the satellite service computer is used to calculate the relative position between the two satellites and control the attitude maneuvering of the satellite platform cabin; the space turntable electrical control box is used to control the direction of the space turntable.

[0082] It should be further explained that since the satellite attitude is constantly changing at every moment, it is impossible to directly analyze the relationship between the own 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 astronomical coordinate system) are obtained, and the relationship between the two attitudes is used for subsequent analysis.

[0083] It should be further explained that when different satellites in different orbits are gazing at each other, the relationship between the local satellite and the target star must be analyzed through the coordinate system corresponding to the local satellite itself to analyze the gazing situation; however, the target star cannot be directly reflected in the coordinate system corresponding to the local satellite itself, and the coordinate data of the target star in the coordinate system corresponding to the local satellite itself must be determined through the rotation relationship of each satellite relative to the J2000 coordinate system.

[0084] Specifically, the satellite service computer uses an Euler angle rotation sequence to obtain the rotation attitude matrix of each satellite relative to the J2000 coordinate system at each moment. In this embodiment, the Euler angle rotation sequence uses a 2-1-3 sequence. The Euler angle rotation sequence is not specifically limited in this embodiment and can be determined by the implementer based on specific circumstances. The Euler angle rotation sequence is well known in the art and will not be described in detail here.

[0085] At this point, you can get this star The rotation matrix relative to the J2000 coordinate system at each moment.

[0086] It should be noted that only when the trajectory of the target star passes through the maneuvering range of the space turntable of this star can the two be visible and communicate. The maneuvering range of the space turntable is the maneuvering range obtained by the space turntable by adjusting its own azimuth and pitch angles. Therefore, there is a difference between the coordinate system of the space turntable and the coordinate system of the maneuvering range of the space turntable. Therefore, it is necessary to determine the conversion relationship between the two before subsequent analysis can be carried out.

[0087] Specifically, a coordinate system corresponding to the maneuvering range of the space turntable is constructed, which is recorded as the rectangular cone field of view coordinate system corresponding to the maneuvering range of the space turntable ; The coordinate origin and the origin of the spatial turntable coordinate system coincide, Axis and space turntable coordinate system Axis coincidence, The axis is parallel to the diagonal plane of the rectangular field of view, Axis perpendicular to Axis and axis, and intersects at .

[0088] According to the azimuth and pitch angles of the spatial turntable, the coordinate system of the spatial turntable is obtained. and rectangular cone view coordinate system The conversion relationship matrix between The conversion relationship matrix Specifically expressed as:

[0089]

[0090] Where, 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.

[0091] Step S002: Determine the distance between the local satellite and the target satellite at a subsequent moment through the position information of the local satellite and the target satellite, and perform iterative analysis to obtain the closest distance between the local satellite and the target satellite during the operation.

[0092] It should be noted that in order to make the visibility time between the local 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 local star space turntable. When the distance between the local star and the target star is the shortest and the target star passes through the diagonal plane of the rectangular cone field of view of the maneuvering range of the local star space turntable, the trajectory of the target star within the maneuvering range of the local star space turntable can be made the longest.

[0093] Specifically, get the The positions of the local star and the target star 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 Corresponding to the velocity in the J2000 coordinate system; Indicates at time , target star Corresponding to the speed in the J2000 coordinate system.

[0094] According to the positions of the local star and the target star in the J2000 coordinate system , and speed , Using the Earth's J2 perturbation model and the fourth-order Runge-Kutta numerical integration method, we can obtain the positions and velocities of the local and target satellites in the J2000 coordinate system at each subsequent moment. The Earth's J2 perturbation model and the fourth-order Runge-Kutta numerical integration method are both well-known techniques and will not be described in detail here.

[0095] According to the positions of the local star and the target star in the J2000 coordinate system at each moment, the distance between the local star and the target star is obtained; the distance between the local star and the target star is specifically expressed by the formula:

[0096]

[0097] Where, Indicates that at each subsequent moment, the planet With target star the distance between them; 、 and Indicates this star The values corresponding to each axis in the J2000 coordinate system, 、 and Indicates the target star The corresponding values of each axis in the J2000 coordinate system.

[0098] At this point, the distance between the local star and the target star at each subsequent moment is obtained;

[0099] Obtain the minimum distance between the local star and the target star at several subsequent moments. The cyclic acquisition process of selecting the minimum distance between the local star and the target star is as follows:

[0100] Step 1: From the moment Start; 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, record the distance between the local star and the target star at each moment as the minimum distance between the local star and the target star, and end the loop; otherwise, execute step 2;

[0101] Step 2: Set the time Add 1, progress time Then return to step 1.

[0102] Among them, another detailed process of selecting the minimum distance between the local star and the target star is:

[0103] Judge at the moment Next and moment Next, the difference in distance between the local star and the target star;

[0104] When the moment In this case, the distance between the local star and the target star is less than or equal to the time When the distance between the local star and the target star is The distance between the host star and the target star is recorded as the closest distance between the host star and the target star. In this case, the distance between the local star and the target star is less than the time When the distance between the local star and the target star is Next and moment Next, the difference in distance between the local star and the target star;

[0105] When the moment In this case, the distance between the local star and the target star is less than or equal to the time When the distance between the local star and the target star is The distance between the host star and the target star is recorded as the closest distance between the host star and the target star. In this case, the distance between the local star and the target star is less than the time When the distance between the local star and the target star is Next and moment Next, the difference in distance between the local star and the target star;

[0106] Similarly, continue to judge and analyze the difference in the distance between the local star and the target star at two subsequent adjacent moments until the first closest distance between the local star and the target star that meets the conditions appears, then stop the iteration.

[0107] At this point, the minimum distance between the local star and the target star at subsequent times is obtained; the time corresponding to the minimum distance between the local star and the target star is recorded as the reference time.

[0108] At this point, the positions and velocities of the local and target satellites in the J2000 coordinate system at the reference time are obtained.

[0109] Step S003: Obtain the optimal vector matrix based on the position and velocity relationship between the local satellite and the target satellite at the reference time; obtain the optimal vector direction based on the relationship between the diagonal line in the diagonal plane of the space turntable's field of view and the optimal orientation vector of the diagonal plane of the space turntable's field of view; obtain the attitude of the local satellite after rotation adjustment based on the initial attitude matrix and the optimal vector matrix.

[0110] It should be noted that in order to make the target star pass through the longest trajectory of the maneuvering range of the local star space turntable, it is necessary to rotate the attitude matrix to transform the rectangular cone field of view coordinate system of the space turntable into the longest trajectory. Axis rotation to optimal orientation , ensuring the visual axis of the spatial turntable The target position at the minimum distance to the target star at the initial position.

[0111] Specifically, based on the positional relationship between the host satellite and the target satellite in the J2000 coordinate system at the reference time and the rotation attitude matrix of the host satellite relative to the J2000 coordinate system at the reference time, the optimal orientation vector of the space turntable's visual axis is obtained; specifically, it is expressed as follows:

[0112]

[0113] Where, Indicates this star At the reference time The rotation attitude matrix relative to the J2000 coordinate system, Indicates the reference time When the target star Corresponding to the position in the J2000 coordinate system, Indicates the reference time When this planet Corresponding to the position in the J2000 coordinate system, Indicates the reference time When the target star The corresponding position in the J2000 coordinate system is The value of the axis, Indicates the reference time When the target star The corresponding position in the J2000 coordinate system is The value of the axis, Indicates the reference time When the target star The corresponding position in the J2000 coordinate system is The value of the axis, Indicates the reference time When this planet The corresponding position in the J2000 coordinate system is The value of the axis, Indicates the reference time When this planet The corresponding position in the J2000 coordinate system is The value of the axis, Indicates the reference time When this planet The corresponding position in the J2000 coordinate system is The numerical value of the axis; The optimal orientation vector of the space turntable's visual axis is used to ensure that the turntable points to the closest distance to the target star at the initial position; 、 and Respectively Projections onto the axes of the J2000 coordinate system.

[0114] It should be noted that the rectangular cone view coordinate system is rotated by the attitude matrix The axis is rotated to the optimal orientation to ensure that the diagonal plane of the space turntable's field of view is parallel to the flight trajectory of the target star, thereby maximizing the target star's residence time in the field of view.

[0115] Specifically, based on the velocity relationship between the host satellite and the target satellite in the J2000 coordinate system at the reference time and the rotation attitude matrix of the host satellite relative to the J2000 coordinate system at the reference time, the optimal orientation vector of the diagonal plane of the space turntable's field of view is obtained; the specific formula is:

[0116]

[0117] Where, Indicates this star At the reference time The rotation attitude matrix relative to the J2000 coordinate system, Indicates the reference time When the target star Corresponding to the speed in the J2000 coordinate system, Indicates the reference time When this planet Corresponding to the velocity in the J2000 coordinate system; Indicates the reference time When the target star The corresponding speed in the J2000 coordinate system is The value of the axis, Indicates the reference time When the target star The corresponding speed in the J2000 coordinate system is The value of the axis, Indicates the reference time When the target star The corresponding speed in the J2000 coordinate system is The value of the axis, Indicates the reference time When this planet The corresponding speed in the J2000 coordinate system is The value of the axis, Indicates the reference time When this planet The corresponding speed in the J2000 coordinate system is The value of the axis, Indicates the reference time When this planet The corresponding speed in the J2000 coordinate system is The numerical value of the axis; The optimal orientation vector of the diagonal plane of the field of view of the space turntable is used to ensure that the flight trajectory of the target star is parallel to the diagonal plane of the field of view, thereby maximizing the target star's residence time in the field of view; 、 and Respectively Projections onto the axes of the J2000 coordinate system.

[0118] It should be noted that another optimal orientation vector in the three-dimensional coordinate system is obtained through the optimal orientation vector of the spatial turntable's visual axis and the optimal orientation vector of the spatial turntable's field of view diagonal plane to construct the optimal coverage rectangular cone field of view coordinate system.

[0119] Specifically, according to the optimal orientation vector of the spatial turntable's visual axis , the optimal orientation vector of the diagonal plane of the spatial turntable field of view , obtain the optimal coverage rectangular cone field of view coordinate system Another optimal orientation vector in is specifically expressed as follows:

[0120]

[0121] Where, Represents the optimal coverage rectangular cone field of view coordinate system The corresponding heading vector, 、 and Respectively Projections on the axes of the J2000 coordinate system; express and The cross product operation between .

[0122] It should be noted that in order to maximize the target star's residence time in the field of view by minimizing the adjustment during the attitude adjustment of the own satellite, the direction of the minimum adjustment can be determined by analyzing the angles between different diagonals and the target star's trajectory. The target star's flight trajectory in the rectangular cone field of view is shown in the figure below. Figure 5 As shown. Among them, Figure 5 A, B, C, and D are the four corners of the rectangular cone field of view.

[0123] Specifically, first determine the optimal coverage rectangular cone field of view coordinate system In this embodiment, one of the axes As an example, in this embodiment, the selected axis is not limited, and the implementer can determine it according to the specific situation; the four diagonals in the rectangular field of view are mapped to the axis, thereby determining four vectors; the four vectors are: 、 、 、 When the rotation angle of the space turntable is , the pitch angle is When , the four vectors are expressed by the formula:

[0124]

[0125] Where, and represents the vector of the diagonal line AC, and represents the vector of the diagonal CA, and The vector representing the diagonal line BD, and The vector representing the diagonal DB; represents the inverse tangent function; Indicates rotation around the Z axis, represents the azimuth of the space turntable, represents the pitch angle of the space turntable. They represent the four vertices of the rectangular field of view of the spatial turntable.

[0126] The optimal orientation vector of the diagonal plane of the field of view of the spatial turntable is obtained by four vectors. The angle between them is calculated, which can be expressed as follows:

[0127]

[0128] Where, Represents a vector With vector The dot product (inner product) between them; represents the modulus of the vector, represents the inverse cosine function, Indicates the diagonal vectors; Represents the optimal orientation vector of the diagonal plane of the spatial turntable's field of view; Indicates the The angle between the diagonal vector and the optimal orientation vector of the diagonal plane of the field of view of the spatial turntable; express The value of is only The four values of .

[0129] Select four vectors 、 、 、 The direction of the vector corresponding to the minimum angle between the optimal orientation vectors of the diagonal plane of the field of view of the spatial turntable is recorded as the optimal vector direction.

[0130] pass 、 and , obtain the optimal coverage rectangular cone field of view coordinate system The optimal vector matrix in; then obtain the rectangular cone field of view coordinate system The initial attitude matrix of the target star; according to the rectangular cone field of view coordinate system The initial attitude matrix of the target star in the center reaches the optimal coverage rectangular cone field of view coordinate system The optimal vector matrix in is used to calculate the required rectangular field of view transformation matrix; the specific formula is:

[0131]

[0132]

[0133] Where, 、 and Respectively The projection on each axis of the J2000 coordinate system, 、 and Respectively The projection on each axis of the J2000 coordinate system, 、 and Respectively Projections on the axes of the J2000 coordinate system; Represents the optimal coverage rectangular cone field of view coordinate system The optimal vector matrix in , Represents the rectangular cone field of view coordinate system The initial attitude matrix of the target star; Represents the matrix inversion function; Represents the rectangular field of view transformation matrix between the initial attitude and the optimal attitude of the target star; The transition matrix representing the rectangular field of view transformation matrix between the initial attitude of the target star and the optimal attitude.

[0134] Among them, the optimal vector matrix is the transformation matrix from the optimal covering rectangular cone field of view coordinate system to the inertial reference system.

[0135] At this point, the rectangular field of view transformation matrix between the initial attitude and the optimal attitude of the target star is obtained.

[0136] According to the rectangular field transformation matrix between the initial attitude of the target star and the optimal attitude, the local star is obtained through the Euler angle rotation sequence. At the reference time The three optimal rotation parameter angles in the process of obtaining the rotation attitude matrix relative to the J2000 coordinate system.

[0137] According to the three optimal rotation parameter angles, the local satellite is rotated through the Euler angle rotation sequence to obtain the attitude of the local satellite after rotation adjustment.

[0138] At this point, the adjustment of this planet's platform is completed.

[0139] Step S004: performing a long-term staring of the local satellite turntable at the target star according to the optimal vector direction, the attitude of the local satellite after rotation adjustment, the installation relationship matrix, the conversion relationship matrix, and the relative position relationship between the local satellite and the target star.

[0140] First, according to the optimal coverage rectangular cone field of view coordinate system in The axis determines that the initial position of the spatial turntable points to one of the four vertices in the rectangular field of view, which is recorded as the reference point.

[0141] Then, when the target star enters the rectangular field of view at the reference point, the space turntable control box starts, and the conversion relationship matrix between the space turntable and the rectangular cone field of view is calculated based on the optimal vector direction, the attitude of the star after rotation adjustment, the installation relationship matrix between the star and the corresponding space turntable, and the conversion relationship matrix between the space turntable and the rectangular cone field of view. As well as the relative position relationship between the local star and the target star, the local star turntable can stare at the target star for a long time; that is, the local star space turntable's visual axis is continuously pointed at the target star, and while the target star passes through the space turntable's maneuvering range rectangular field of view along the longest path, data is transmitted or photos are taken. Among them, the schematic diagram of the target star's optimal flight trajectory in the rectangular cone field of view is as follows Figure 6 As 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 view coordinate system.

[0142] like Figure 2 As shown, the second aspect of the present invention is to provide a satellite-onboard coupling control system for long-term staring between satellites in different orbital planes, comprising the following modules:

[0143] Coordinate relationship construction module 101: used to construct the local satellite's space turntable coordinate system and rectangular cone field of view coordinate system, obtain the installation relationship matrix between the local satellite and the corresponding space turntable; obtain the local satellite's rotation attitude matrix at each moment; obtain the conversion relationship matrix between the space turntable coordinate system and the rectangular cone field of view coordinate system;

[0144] The different-orbit satellite position relationship module 102 is used to obtain the minimum distance between the local satellite and the target satellite at several subsequent moments; the moment corresponding to the minimum distance between the local satellite and the target satellite is recorded as the reference moment;

[0145] Attitude analysis and adjustment module 103: used to obtain the optimal orientation vector of the space turntable's visual axis and the optimal orientation vector of the space turntable's field of view diagonal plane according to the rotation attitude matrix of the host satellite at the reference time; 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's visual axis and the optimal orientation vector of the space turntable's field of view diagonal plane; obtain the optimal vector direction according to the relationship between the diagonal in the space turntable's field of view diagonal plane and the optimal orientation vector of the space turntable's field of view diagonal plane; obtain the initial attitude matrix of the target satellite in the rectangular cone field of view coordinate system, obtain the rectangular field of view conversion matrix between the initial attitude of the target satellite and the optimal attitude 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, rotate the host satellite according to the optimal rotation parameter angle, and obtain the attitude of the host satellite after rotation adjustment;

[0146] The tracking and gazing module 104 is used to perform a long-term gaze of the local satellite turntable on the target satellite according to the optimal vector direction, the posture of the local satellite after rotation adjustment, the installation relationship matrix, the conversion relationship matrix and the relative position relationship between the local satellite and the target satellite.

[0147] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, optical storage, etc.) containing computer-usable program code.

[0148] The present invention is described with reference to flowcharts and / or block diagrams of methods, systems, and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0149] These computer program instructions may 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, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0150] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0151] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered by the scope of protection of the present invention.

Claims

1. A satellite-onboard coupling control method for long-term staring between satellites in different orbital planes, characterized in that: include: Construct the local satellite's space turntable coordinate system and rectangular cone field of view coordinate system, and obtain the installation relationship matrix between the local satellite and the corresponding space turntable; Obtain the rotation attitude matrix of the 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 minimum distance between the local star and the target star at several subsequent moments; record the moment corresponding to the minimum distance between the local star and the target star as the reference moment; According to the rotation attitude matrix of the local satellite at the reference time, the optimal orientation vector of the spatial turntable's visual axis and the optimal orientation vector of the spatial turntable's field of view diagonal plane are obtained; according to the optimal orientation vector of the spatial turntable's visual axis and the optimal orientation vector of the spatial turntable's field of view diagonal plane, the optimal vector matrix in the optimal coverage rectangular cone field of view coordinate system is obtained; according to the relationship between the diagonal in the spatial turntable's field of view diagonal plane and the optimal orientation vector of the spatial turntable's field of view diagonal plane, the optimal vector direction is obtained; the initial attitude matrix of the target star 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 star is obtained; according to the rectangular field of view conversion matrix, the optimal rotation parameter angle is obtained, and the local satellite is rotated by the optimal rotation parameter angle to obtain the attitude of the local satellite after rotation adjustment; According to the optimal vector direction, the posture of the host star after rotation adjustment, the installation relationship matrix, the conversion relationship matrix and the relative position relationship between the host star and the target star, the host star turntable performs a long-term staring at the target star.

2. The satellite-onboard coupling control method for long-term staring between satellites in different orbital planes according to claim 1, characterized in that: The process of constructing the local satellite's space turntable coordinate system and rectangular cone field of view coordinate system and obtaining the installation relationship matrix between the local satellite and the corresponding space turntable includes: Space turntable coordinate system in The axis is the visual axis of the space turntable. The axis is parallel to the pitch axis of the space turntable. The axis is parallel to the azimuth axis of the space turntable; Rectangular cone field of view coordinate system The coordinate origin and the origin of the spatial turntable coordinate system coincide, Axis and space turntable coordinate system Axis coincidence, The axis is parallel to the diagonal plane of the rectangular field of view, Axis perpendicular to Axis and axis, and intersects at ; The installation relationship matrix between this satellite and the corresponding space turntable is: Where, Indicates this star With the corresponding space turntable The installation relationship matrix between them.

3. The satellite-onboard coupling control method for long-term staring between satellites in different orbital planes according to claim 2, characterized in that: The obtaining of the rotation attitude matrix of the satellite at each moment; Get the transformation relationship matrix between the spatial turntable coordinate system and the rectangular cone field of view coordinate system, including: Obtaining the rotation attitude matrix of each satellite relative to the J2000 coordinate system at each moment by using the Euler angle rotation sequence through a satellite service computer installed inside a satellite platform cabin; wherein each satellite corresponds to a satellite platform cabin; Where, 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. The satellite-onboard coupling control method for long-term staring between satellites in different orbital planes according to claim 1, characterized in that: The obtaining of the minimum distance between the local star and the target star at a number of subsequent moments includes: Obtain the position and velocity of the local and target satellites in the J2000 coordinate system at each moment; According to the position of this star in the J2000 coordinate system and speed , the position of the target star corresponding to the J2000 coordinate system and speed , through the Earth J2 perturbation model and the fourth-order Runge-Kutta numerical integration method, the position and velocity of the local and target satellites in the J2000 coordinate system are obtained at each subsequent moment; 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 Corresponding to the velocity in the J2000 coordinate system; Indicates at time , target star Corresponding to the velocity in the J2000 coordinate system; Where, Indicates that at each subsequent moment, the planet With target star the distance between them; 、 and Indicates this star The values corresponding to each axis in the J2000 coordinate system, 、 and Indicates the target star The corresponding values of each axis in the J2000 coordinate system; The minimum distance between the local star and the target star is selected based on several subsequent moments. The specific process of selecting the minimum distance between the local star and the target star is as follows: Step 1: From the moment Start; 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, record the distance between the local star and the target star at each moment as the minimum distance between the local star and the target star, and end the loop; otherwise, execute step 2; Step 2: Set the time Add 1, progress time Then return to step 1.

5. The satellite-onboard coupling control method for long-term staring between satellites in different orbital planes according to claim 4, characterized in that: The specific process of obtaining the optimal orientation vector of the spatial turntable's visual axis is as follows: Where, Indicates this star At the reference time The rotation attitude matrix relative to the J2000 coordinate system, Indicates the reference time When the target star Corresponding to the position in the J2000 coordinate system, Indicates the reference time When this planet Corresponding to the position in the J2000 coordinate system, Indicates the reference time When the target star The corresponding position in the J2000 coordinate system is The value of the axis, Indicates the reference time When the target star The corresponding position in the J2000 coordinate system is The value of the axis, Indicates the reference time When the target star The corresponding position in the J2000 coordinate system is The value of the axis, Indicates the reference time When this planet The corresponding position in the J2000 coordinate system is The value of the axis, Indicates the reference time When this planet The corresponding position in the J2000 coordinate system is The value of the axis, Indicates the reference time When this planet The corresponding position in the J2000 coordinate system is The numerical value of the axis; The optimal orientation vector of the space turntable's visual axis is used to ensure that the turntable points to the closest distance to the target star at the initial position; 、 and Respectively Projections onto the axes of the J2000 coordinate system.

6. The satellite-onboard coupling control method for long-term staring between satellites in different orbital planes according to claim 5, characterized in that: The specific process of obtaining the optimal orientation vector of the diagonal plane of the field of view of the spatial turntable is as follows: Where, Indicates the reference time When the target star Corresponding to the speed in the J2000 coordinate system, Indicates the reference time When this planet Corresponding to the velocity in the J2000 coordinate system; Indicates the reference time When the target star The corresponding speed in the J2000 coordinate system is The value of the axis, Indicates the reference time When the target star The corresponding speed in the J2000 coordinate system is The value of the axis, Indicates the reference time When the target star The corresponding speed in the J2000 coordinate system is The value of the axis, Indicates the reference time When this planet The corresponding speed in the J2000 coordinate system is The value of the axis, Indicates the reference time When this planet The corresponding speed in the J2000 coordinate system is The value of the axis, Indicates the reference time When this planet The corresponding speed in the J2000 coordinate system is The numerical value of the axis; The optimal orientation vector of the diagonal plane of the field of view of the space turntable is used to ensure that the flight trajectory of the target star is parallel to the diagonal plane of the field of view, thereby maximizing the target star's residence time in the field of view; 、 and Respectively Projections onto the axes of the J2000 coordinate system.

7. The satellite-onboard coupling control method for long-term staring between satellites in different orbital planes according to claim 6, characterized in that: The method of obtaining an optimal vector matrix in an optimal coverage rectangular cone field of view coordinate system according to the optimal orientation vector of the spatial turntable's visual axis and the optimal orientation vector of the spatial turntable's field of view diagonal plane includes: According to the optimal orientation vector of the spatial turntable's visual axis , the optimal orientation vector of the diagonal plane of the spatial turntable field of view , obtain the optimal coverage rectangular cone field of view coordinate system Another optimal orientation vector in is specifically expressed as follows: Where, Represents the optimal coverage rectangular cone field of view coordinate system The corresponding heading vector, 、 and Respectively Projections on the axes of the J2000 coordinate system; express and Cross product operation between ; The optimal vector matrix in the optimal coverage rectangular cone field of view coordinate system is expressed as: 。 8. The satellite-onboard coupling control method for long-term staring between satellites in different orbital planes according to claim 1, characterized in that: The obtaining of the optimal vector direction according to the relationship between the diagonal line in the diagonal plane of the spatial turntable field of view and the optimal orientation vector of the diagonal plane of the spatial turntable field of view includes: Obtain four vectors of the diagonal plane of the field of view of the spatial turntable; the four vectors are respectively expressed by the formula: Where, and represents the vector of the diagonal line AC, and represents the vector of the diagonal CA, and The vector representing the diagonal line BD, and The vector representing the diagonal DB; represents the inverse tangent function; Indicates rotation around the Z axis, represents the azimuth of the space turntable, represents the pitch angle of the space turntable; They represent the four vertices of the rectangular field of view of the space turntable; The optimal orientation vector of the diagonal plane of the field of view of the spatial turntable is obtained by four vectors. The angle between them is calculated, which can be expressed as follows: Where, Represents a vector With vector The dot product between represents the modulus of the vector, represents the inverse cosine function, Indicates the diagonal vectors; Represents the optimal orientation vector of the diagonal plane of the spatial turntable's field of view; Indicates the The angle between the diagonal vector and the optimal orientation vector of the diagonal plane of the field of view of the spatial turntable; express The value of is only The four values of ; Select four vectors 、 、 、 The direction of the vector corresponding to the minimum angle between the optimal orientation vectors of the diagonal plane of the field of view of the spatial turntable is recorded as the optimal vector direction.

9. The satellite-onboard coupling control method for long-term staring between satellites in different orbital planes according to claim 1, characterized in that: The method comprises: obtaining a 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 an optimal rotation parameter angle according to the rectangular field of view conversion matrix, rotating the host star according to the optimal rotation parameter angle, and obtaining a rotation-adjusted attitude of the host star, including: Where, 、 and Respectively The projection on each axis of the J2000 coordinate system, 、 and Respectively The projection on each axis of the J2000 coordinate system, 、 and Respectively Projections on the axes of the J2000 coordinate system; Represents the optimal coverage rectangular cone field of view coordinate system The optimal vector matrix in , Represents the rectangular cone field of view coordinate system The initial attitude matrix of the target star; Represents the matrix inversion function; Represents the rectangular field of view transformation matrix between the initial attitude and the optimal attitude of the target star; The transition matrix representing the rectangular field of view transformation matrix between the initial attitude of the target star and the optimal attitude; According to the rectangular field transformation matrix between the initial attitude of the target star and the optimal attitude, the local star is obtained through the Euler angle rotation sequence. At the reference time The three optimal rotation parameter angles in the process of obtaining the rotation attitude matrix relative to the J2000 coordinate system; According to the three optimal rotation parameter angles, the local satellite is rotated through the Euler angle rotation sequence to obtain the attitude of the local satellite after rotation adjustment.

10. A satellite-onboard coupling control system for long-term staring between satellites in different orbital planes, characterized in that: include: Coordinate relationship construction module: used to construct the local satellite's space turntable coordinate system and rectangular cone field of view coordinate system, and obtain the installation relationship matrix between the local satellite and the corresponding space turntable; Obtain the rotation attitude matrix of the satellite at each moment; obtain the conversion relationship matrix between the space turntable coordinate system and the rectangular cone field of view coordinate system; Different-orbit satellite position relationship module: used to obtain the minimum distance between the local satellite and the target satellite at several subsequent moments; the moment corresponding to the minimum distance between the local satellite and the target satellite is recorded as the reference moment; Attitude analysis and adjustment module: used to obtain the optimal orientation vector of the space turntable's visual axis and the optimal orientation vector of the space turntable's field of view diagonal plane according to the rotation attitude matrix of the local satellite at the reference time; 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's visual axis and the optimal orientation vector of the space turntable's field of view diagonal plane; obtain the optimal vector direction according to the relationship between the diagonal in the space turntable's field of view diagonal plane and the optimal orientation vector of the space turntable's field of view diagonal plane; obtain the initial attitude matrix of the target star in the rectangular cone field of view coordinate system, and obtain 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; obtain the optimal rotation parameter angle according to the rectangular field of view conversion matrix, rotate the local satellite according to the optimal rotation parameter angle, and obtain the attitude of the local satellite after rotation adjustment; Tracking and gazing module: used to perform long-term gazing of the local satellite turntable on the target star based on the optimal vector direction, the posture of the local satellite after rotation adjustment, the installation relationship matrix, the conversion relationship matrix and the relative position relationship between the local satellite and the target star.

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