Adaptive continuous tracking switching method based on multiple targets

Abstract

A self-adaptive continuous tracking switching method based on multiple targets performs continuous tracking and switching on a plurality of target satellites which are screened out in advance and have better visual conditions in a specified time period according to a tracking sequence and respective tracking durations of the target satellites, greatly improves the tracking duration of the target satellites, and improves the tracking efficiency of the target satellites. Therefore, under the condition that the target signal tracking success probability of a single task is improved, the target tracking efficiency in a single task time period can still be obviously improved, and the satellite tracking and communication requirements in a multi-target scene can be better met.

Description

Technical Field

[0001] The present invention relates to an adaptive continuous tracking switching method based on multiple targets, belonging to the technical field of satellite tracking. Background Art

[0002] At present, the construction of the global satellite Internet system is in a period of rapid development. The number and scale of global constellation projects are also continuously expanding. The network coverage that can be provided has covered most parts of the world, breaking the limitation of insufficient coverage of traditional Internet ground facilities and bringing high-performance satellite Internet services with global coverage to users. However, with the expansion of the satellite networking scale, various networking constellations increasingly show the characteristics of complex structure and high dynamic topological changes, which brings challenges to inter-satellite communication of networking satellites. Studying and exploring flexible and efficient inter-satellite communication mechanisms and mastering the method of continuously tracking and switching multiple target satellites can provide ideas and references for the construction of China's satellite Internet system.

[0003] The No. 54 Research Institute of China Electronics Technology Group Corporation disclosed a Ku-band wireless signal tracking system in the patent document "A Ku-band Wireless Signal Tracking System" (application number CN202310126667, publication number CN116243347A) it applied for. The system includes a Ku-band phased array antenna, a broadband monitoring and acquisition receiver, and a display and control terminal. The system can meet the tracking requirements of low-earth orbit satellite signals and geostationary orbit satellite tracking, and has the advantages of high equipment integration and system portability. However, there are still two deficiencies in this method: First, the system can only be used on the ground, and its usage range is limited. It can only track satellites passing through the airspace above the location of the system, and the tracking range is extremely limited; Second, the system can only track one target satellite at a time, and the success probability of a single mission tracking is low, which can no longer meet the tracking usage requirements of the current large-scale satellite Internet constellation.

[0004] Beijing Star-Net Satellite Communication Technology Development Co., Ltd. discloses a satellite seeking method for a satellite communication antenna in motion in its patent document "A Satellite Seeking Method for a Satellite Communication Antenna in Motion" (application number CN201410353556, authorized publication number CN104124529B). The method includes the following steps: Before tracking, the antenna conducts initial satellite seeking and uses a satellite seeking judgment criterion to confirm whether a satellite signal has been found; during the tracking process, the AGC level signal is monitored at all times to conduct a satellite loss judgment; after the tracking is unlocked, satellite seeking is restarted to conduct a sweeping satellite judgment; if a satellite signal is found, the tracking state is entered, and if a satellite signal is not found and the satellite seeking restart time has been reached, the initial satellite seeking is entered. The disadvantages of this method are as follows: First, satellite seeking operations need to be carried out before each tracking. If a satellite signal is not found during the current mission period, the mission will fail; second, this method can also only track one satellite at a time, and the single mission tracking success probability is low, and it can no longer meet the tracking use requirements of the current large-scale satellite Internet constellation. Summary of the Invention

[0005] The technical problem solved by the present invention is: Aiming at the problems of low target tracking efficiency during a single mission period and the difficulty of traditional technologies in meeting the satellite tracking and communication requirements in a multi-target scenario in the current existing technologies, an adaptive continuous tracking switching method based on multiple targets is proposed.

[0006] The present invention solves the above technical problems through the following technical solutions:

[0007] An adaptive continuous tracking switching method based on multiple targets includes:

[0008] Power on and initialize the satellite payload integrated processor and broadband dual-beam phased array antenna carried on the satellite;

[0009] Screen all target stars to be tracked through the ground station, encapsulate the corresponding orbits and satellite numbers into a target star orbit packet, and upload it to the satellite payload integrated processor;

[0010] Screen the information of the target stars to be tracked corresponding to the two beams of the broadband dual-beam phased array antenna through the ground station, encapsulate the target information to be tracked by each beam into a corresponding target star tracking task instruction, and upload it to the satellite payload integrated processor;

[0011] Locally cache the mission information in the target star orbit packet and the target star tracking task instruction, receive the broadcast satellite service time and compare it. When the broadcast satellite service time reaches the mission start time in the target star tracking task instruction, enter the multi-target continuous tracking state;

[0012] Find the number of the first target star to be tracked by the first phased array antenna beam in this task from the information of the target stars to be tracked, initialize the number of tracked target stars of the first phased array antenna beam to 0, and initialize the tracked duration of the current target star to 0;

[0013] Preset a pointing calculation period. In each pointing calculation period, determine whether the current number of tracked target stars of the first phased array antenna beam is less than the number of target satellites to be tracked specified in this task. If it is less, perform pointing calculation and tracking control on the target stars to be tracked; otherwise, all the target satellite to be tracked by the first phased array antenna beam specified in this task have been tracked, and the satellite payload integrated processor does not operate until the end of the task;

[0014] According to the current number of satellites tracked by the first phased array antenna beam, obtain the number of the target star to be tracked currently from the information of this task. According to the number of the target star, find the orbital parameters of the current target star from the orbital information of the target stars to be tracked. At the same time, obtain the attitude and orbital information of the on-orbit star at the current moment broadcast by the satellite platform. Calculate the off-axis angle and azimuth angle of the pointing of the on-orbit star to the target star at the current moment through the target star pointing algorithm;

[0015] Perform limit correction on the calculation results and send them to the first phased array antenna beam. Perform tracking control on the current target star according to the limit correction results, and increment the count of the tracked duration of the current target star by 1;

[0016] Judge whether the tracked duration of the current target star is equal to the tracked duration of the current target star specified in this task. If so, end the tracking of the current target star, switch to the next target star to be tracked, increment the number of tracked target satellites of the first phased array antenna beam by 1, and perform pointing tracking on the next target star when the next pointing calculation period arrives; otherwise, wait until the next pointing calculation period arrives and still perform pointing tracking on the current target star;

[0017] When the first phased array antenna beam performs target star tracking on the target satellites to be tracked, synchronously perform target star tracking on the second phased array antenna beam. When all the target satellites to be tracked by the first phased array antenna beam and the second phased array antenna beam have been tracked, exit the multi-target continuous tracking state, enter the standby state, and delete the target star tracking task instructions and all target star orbit packages used in this task.

[0018] The information of the target stars to be tracked includes all the target star numbers, tracking sequences, tracking duration of each star, and the start time and end time of this tracking task that the two beams of the broadband dual-beam phased array antenna need to track respectively;

[0019] After exiting the multi-target continuous tracking state, the satellite payload integrated processor retrieves whether there are still target star tracking task instructions to be executed in the cached information. If there are, it compares the on-board broadcast time with the start time of the target star tracking task to be executed in real time. After the start time of the target star tracking task specified in the instruction is reached, it re-enters the multi-target continuous tracking state; otherwise, it waits in the standby state to receive new target star tracking task instructions and target star orbit packets uplinked from the ground, or waits to shut down.

[0020] The two beams of the broadband dual-beam phased array antenna are independently controlled to point and independently perform continuous tracking on different target stars; the working frequency bands include the X band, Ku band, Ka band, or other bands required by the mission, meeting the constraint conditions of the antenna working frequency range.

[0021] During the uplink process of the target star orbit packet and the target star tracking task instruction, within the satellite overpass period, it is uplinked to the satellite body through the TT&C channel and then forwarded by the satellite body to the satellite payload integrated processor; in the target star tracking task instruction information, the maximum number of target stars supported for continuous tracking in a single target star tracking task is 2m, and each phased array antenna beam corresponds to m stars; the maximum cache of the satellite payload integrated processor is n target star tracking task instructions and the corresponding 2m×n target star orbit information. The start and end times of different target star tracking tasks do not overlap, and the values of m and n are set according to the actual scenario requirements and the cache capacity of the satellite payload integrated processor.

[0022] The method for the ground station to screen the target star information corresponding to the two beams respectively is as follows:

[0023] Through the ground star screening algorithm, all target star orbits within the scanning range of the dual-beam phased array antenna during the specified mission period are screened, and a preset number of target stars that meet the requirements of the visible conditions are selected and allocated to the first phased array antenna beam and the second phased array antenna beam respectively. Then, the tracking sorting and tracking duration planning of the target stars corresponding to each antenna beam are carried out, and the target information to be tracked for each beam is encapsulated as a target star tracking task instruction according to the sorting and planning results.

[0024] After receiving the target star tracking task instruction, the payload integrated processor determines whether the start execution time of the target star tracking task instruction is greater than the current time. If so, this task has expired and the target star tracking task instruction is directly deleted; otherwise, the satellite payload integrated processor sorts and stores all the received target star tracking task instructions in the order of the start execution time of the tasks.

[0025] The satellite payload integrated processor locally caches the target star orbit and target star tracking task instructions uploaded from the ground in the DDR and MRAM; after the end of the current power-on operation, when powered on next time, the satellite payload integrated processor reads back all the target star orbits and target star tracking task parameters from the MRAM to save satellite platform resources.

[0026] The pointing calculation period is determined according to the pointing control frequency range that the broadband dual-beam phased array antenna can accept, and high-precision continuous tracking control of the target star is achieved by shortening the pointing calculation period; the target star pointing algorithm takes the position and attitude of the host star at the current moment and the target star orbit parameters as input data, converts the different orbit models of the target star and the host star to be consistent and performs coordinate system rotation, and takes the pointing azimuth angle and pointing off-axis angle of the host star to the target star as output data.

[0027] If the target star number and its orbit parameters to be tracked currently in this task cannot be found in the uploaded target star orbits, during the tracking period of the target star to be tracked currently, the phased array antenna is default-controlled to point to the normal direction;

[0028] The counting of the tracked duration, the time precision of the unit is determined according to the user requirements of the task information in this task.

[0029] The satellite payload integrated processor and the broadband dual-beam phased array antenna exit the multi-target tracking state at the end of the task. Regardless of whether all the target stars specified by the tracking task parameters of this task are tracked or not at the end of the task, the satellite payload integrated processor and the broadband dual-beam phased array antenna both exit the multi-target tracking state;

[0030] When the ground station conducts task planning, it ensures that the total tracking duration of the first phased array antenna beam and the second phased array antenna beam for each target star is the same, and the total tracking duration is equal to the task execution duration.

[0031] The advantages of the present invention compared with the prior art are as follows:

[0032] (1) An adaptive continuous tracking switching method based on multi-targets provided by the present invention improves the tracking efficiency in a multi-target scenario. During the same task period, the present invention can continuously track and switch multiple target stars within the scanning range of the host star antenna. Compared with the prior art that tracks a single target, the present invention can greatly increase the trackable duration of the target star, thereby improving the target signal tracking success probability of a single task;

[0033] (2) The present invention significantly increases the number of target stars that can be tracked in a single mission. The broadband dual-beam phased array antenna adopted by the present invention has two independent working beams, which can be controlled to point to different target stars at the same time, significantly increasing the number of target stars that can be tracked during the same mission period, better meeting the tracking requirements of satellite signals in multi-target scenarios, and having the ability to monitor large constellations;

[0034] (3) The present invention uses flexible and settable tracking parameters to meet various multi-target tracking scenarios. The number of target stars to be tracked and the tracking duration parameters within a single mission of the present invention can be flexibly set, not limited to using a fixed tracking duration for each target star, nor limited to tracking a fixed number of satellites each time, as long as the total number of tracked stars is less than the maximum number of stars that can be tracked in a single time accepted by the satellite payload processor and the total tracking duration is equal to the mission duration;

[0035] (4) The tracking switching step of the present invention has high tracking pointing accuracy for target stars. When the present invention executes the target star tracking mission, it uses the real-time orbital attitude information of the on-orbit satellite to calculate the azimuth and off-axis pointing of the on-orbit satellite to the target star, and uses the phased array antenna to quickly respond to achieve pointing control, so as to improve the tracking accuracy and tracking precision of the target star;

[0036] (5) The present invention performs task management independently and does not occupy satellite resources. The payload integrated processor of the present invention can power off to save all received target star tracking mission instructions and target star orbit packets. After the next power-on, the satellite payload integrated processor can read back all target star orbits and target star tracking mission parameters from the MRAM, so as to save satellite platform resources, without having to power on the satellite payload integrated processor for a long time, nor having to cache a large number of telecommand instructions for the satellite payload integrated processor. Description of the Drawings

[0037] Figure 1 Usage scenario diagram of the multi-target tracking mission provided by the invention;

[0038] Figure 2 Implementation flow chart of the multi-target tracking mission provided by the invention;

[0039] Figure 3 Schematic diagram of some key parameter configuration fields of the target star tracking mission provided by the invention. Detailed Implementation Manner

[0040] An adaptive continuous tracking switching method based on multiple targets continuously tracks and switches multiple target satellites with better visibility conditions screened in advance according to their tracking order and respective tracking durations within a specified period. This method can significantly improve the target tracking efficiency during a single mission period to better meet the satellite tracking and communication requirements in multi-target scenarios.

[0041] An adaptive continuous tracking switching method based on multiple targets, and the specific steps are as follows:

[0042] Power on and initialize the satellite payload integrated processor and broadband dual-beam phased array antenna carried on the satellite;

[0043] Filter all target stars to be tracked through the ground station, encapsulate the corresponding orbits and satellite numbers into target star orbit packets, and upload them to the satellite payload integrated processor;

[0044] Filter the information of the target stars to be tracked corresponding to the two beams of the broadband dual-beam phased array antenna through the ground station, encapsulate the target information to be tracked by each beam into corresponding target star tracking task instructions, and upload them to the satellite payload integrated processor;

[0045] Locally cache the task information in the target star orbit packet and the target star tracking task instruction, receive the broadcast satellite bus time and compare it. When the broadcast satellite bus time reaches the task start time in the target star tracking task instruction, enter the multi-target continuous tracking state;

[0046] Find the number of the first target star to be tracked by the first phased array antenna beam in this task from the target information to be tracked, initialize the number of target stars already tracked by the first phased array antenna beam to 0, and initialize the already tracked duration of the current target star to 0;

[0047] Preset a pointing calculation period. In each pointing calculation period, judge whether the number of currently tracked target stars of the first phased array antenna beam is less than the number of target satellites to be tracked specified in this task. If it is less, perform pointing calculation and tracking control on the target star to be tracked; otherwise, all the target satellites to be tracked by the first phased array antenna beam specified in this task have been tracked, and the satellite payload integrated processor does not act until the end of the task;

[0048] According to the number of satellites currently tracked by the first phased array antenna beam, obtain the number of the target star to be tracked currently from the task information of this task, find the orbital parameters of the current target star from the orbital information of the target star to be tracked according to the target star number, and at the same time obtain the current attitude and orbit information of the on-body satellite broadcast by the satellite platform. Calculate the pointing off-axis angle and pointing azimuth angle of the on-body satellite to the target star at the current moment through the target star pointing algorithm;

[0049] Perform limit correction on the calculation result and send it to the first phased array antenna beam, perform tracking control on the current target star according to the limit correction result, and increment the count of the already tracked duration of the current target star by 1;

[0050] Determine whether the tracked duration of the current target star is equal to the specified tracked duration of the current target star in this mission. If so, end the tracking of the current target star, switch to the next target star to be tracked, increment the number of tracked target satellites of the first phased array antenna beam by 1, and perform pointing tracking on the next target star when the next pointing calculation period arrives; otherwise, wait for the next pointing calculation period to arrive and still perform pointing tracking on the current target star;

[0051] When the first phased array antenna beam is tracking a target star, synchronously perform target star tracking of the second phased array antenna beam. When the target stars to be tracked by both the first phased array antenna beam and the second phased array antenna beam have been tracked, exit the multi-target continuous tracking state, enter the standby state, and delete the target star tracking task instructions and all target star orbit packets used in this mission.

[0052] Furthermore, the information of the target star to be tracked includes the numbers of all target stars that the two beams of the broadband dual-beam phased array antenna need to track respectively, the tracking order, the tracking duration of each star, and the start time and end time of this tracking mission;

[0053] After exiting the multi-target continuous tracking state, check through the satellite payload integrated processor whether there are still target star tracking task instructions to be executed in the cached information. If so, compare the on-orbit broadcast time with the start time of the target star tracking task to be executed in real time. When the start time of the target star tracking task specified in the target star tracking task instruction is reached, re-enter the multi-target continuous tracking state; otherwise, wait in the standby state to receive new target star tracking task instructions and target star orbit packets uplinked from the ground, or wait for shutdown.

[0054] The two beams of the broadband dual-beam phased array antenna are independently controlled in pointing and independently perform continuous tracking on different target stars; the working frequency bands include the X band, Ku band, Ka band, or other bands required by the mission, meeting the constraint conditions of the antenna operating frequency range.

[0055] During the uplink process of the target star orbit packet and the target star tracking task instruction, within the satellite transit period, it is uplinked to the satellite body through the TT&C channel and then forwarded by the satellite body to the satellite payload integrated processor; in the target star tracking task instruction information, the maximum support for a single target star tracking task is continuous tracking of 2m target stars, with each phased array antenna beam corresponding to m stars; the maximum cache of the satellite payload integrated processor is n target star tracking task instructions and the corresponding 2m×n target star orbit information. The start and end times of different target star tracking tasks do not overlap, and the values of m and n are set according to the actual scenario requirements and the cache capacity of the satellite payload integrated processor.

[0056] The method for the ground station to screen the information of the target stars to be tracked corresponding to the two beams respectively is:

[0057] Through the ground star screening algorithm, all target star orbits within the scanning range of the dual-beam phased array antenna during the specified mission period are screened, and a preset number of target stars that meet the requirements of the selected visibility conditions are selected, and are respectively assigned to the first phased array antenna beam and the second phased array antenna beam, and the tracking sorting and tracking duration planning of the target stars corresponding to each antenna beam are carried out, and the target information to be tracked for each beam is encapsulated as a target star tracking task instruction according to the sorting and planning results.

[0058] After receiving the target star tracking task instruction, the payload integrated processor determines whether the start execution time of the target star tracking task instruction is greater than the current time. If so, this mission has expired, and the target star tracking task instruction is directly deleted. Otherwise, the satellite payload integrated processor sorts all the received target star tracking task instructions in the order of the start execution time and stores them.

[0059] The satellite payload integrated processor locally caches the target star orbits and target star tracking task instructions uplinked from the ground in the DDR and MRAM; after the end of the current power-on operation, the satellite payload integrated processor reads back all the target star orbits and target star tracking task parameters from the MRAM again after the next power-on to save satellite platform resources.

[0060] The pointing calculation period is determined according to the pointing control frequency range that the broadband dual-beam phased array antenna can accept, and high-precision continuous tracking control of the target star is achieved by shortening the pointing calculation period; the target star pointing algorithm takes the position and attitude of the host star at the current moment and the target star orbit parameters as input data, converts the different orbit models of the target star and the host star to be consistent and performs coordinate rotation, and takes the pointing azimuth angle and pointing off-axis angle of the host star to the target star as output data.

[0061] If the target star number and its orbit parameters to be tracked currently in this mission are not found in the uplinked target star orbits, during the tracking period of the target star to be tracked currently, the phased array antenna is default controlled to point to the normal direction.

[0062] The counted duration of tracking, and the time accuracy of the unit is determined according to the user requirements of this mission information.

[0063] The satellite payload integrated processor and the broadband dual-beam phased array antenna exit the multi-target tracking state at the end of the mission. Whether all the target stars specified by the tracking task parameters of this mission are tracked or not at the end of the mission, the satellite payload integrated processor and the broadband dual-beam phased array antenna both exit the multi-target tracking state.

[0064] When the ground station conducts mission planning, it ensures that the total tracking duration of the first phased array antenna beam and the second phased array antenna beam for each target satellite is the same, and the total tracking duration is equal to the mission execution duration.

[0065] The following is a further description in conjunction with the accompanying drawings of the specification and preferred embodiments:

[0066] In the current embodiment, as Figure 1 shown, it is a schematic diagram of the tracking target relationship of a broadband dual-beam phased array antenna for target satellite tracking mission parameter settings, including that beam 1 tracks 4 target satellites; beam 2 tracks 3 target satellites.

[0067] As Figure 2 shown, the implementation steps of the embodiment are as follows:

[0068] Step 1, after the satellite payload integrated processor and the broadband dual-beam phased array antenna are powered on and initialized, they enter the standby state and wait to receive the telecommand uploaded from the ground.

[0069] For the broadband dual-beam phased array antenna, the two beams are independently controlled in direction and can independently track different target satellites continuously. The working frequency band of this broadband dual-beam phased array antenna includes but is not limited to: X band, Ku band, Ka band, etc., specifically depending on the tracking mission requirements and the antenna working frequency range.

[0070] Step 2, the tester encapsulates the orbits and satellite numbers of multiple target satellites to be tracked screened on the ground into a target satellite orbit packet and uploads it to the satellite payload integrated processor; encapsulates the numbers of multiple target satellites that the two beams of the broadband dual-beam phased array antenna need to track respectively, the tracking order, the tracking duration of each satellite, and the start and end times of this tracking mission and other parameters into a target satellite tracking mission instruction and uploads it to the satellite payload integrated processor;

[0071] Uploading the target satellite orbit and the target satellite tracking mission instruction means that during the satellite overpass period, the telecommand is uploaded to the satellite platform through the TT&C channel and then forwarded to the satellite payload integrated processor.

[0072] It is specified that the satellite payload integrated processor can support continuous tracking of up to 16 target satellites for a single target satellite tracking mission at most, with 8 satellites for each phased array antenna beam; the satellite payload integrated processor can cache up to 15 target satellite tracking mission instructions and their corresponding 16×15 target satellite orbits at most.

[0073] Ground screening of multiple target stars to be tracked means calling the ground star screening algorithm to screen the orbits of all target stars within the scanning range of the broadband dual-beam phased array antenna of the on-body star during the specified mission period, selecting several target stars with better visibility conditions (off-axis angle within the limit range and as small as possible, long visibility time), respectively allocating them to beam 1 and beam 2 of the phased array antenna, and performing tracking sorting and tracking duration planning for multiple target stars.

[0074] The start time of the mission is s, and the mission duration is 60 seconds. Antenna beam 1 tracks 4 target satellites, with satellite numbers m1, m2, m3, and m4 respectively, and the tracking durations are 20 seconds, 30 seconds, 10 seconds; beam 2 tracks 3 target satellites, with satellite numbers n1, n2, and n3 respectively, and the tracking durations are 15 seconds, 35 seconds, and 20 seconds. That is, the total tracking duration of the two stars is equal, both 60 seconds, and equal to the mission duration.

[0075] Step 3: After receiving the target star orbit and target star tracking mission instructions uplinked from the ground, the satellite payload integrated processor performs local caching and compares with the broadcast satellite service time in real time. When the start time of the target star tracking mission instruction is reached, it proceeds to step 4 and enters the multi-target continuous tracking state;

[0076] After receiving the target star tracking mission instructions uplinked from the ground, the satellite payload integrated processor determines that the start time s of its mission execution is less than the current satellite broadcast time, which is a valid instruction. Then the satellite payload integrated processor will sort all the received target star tracking mission instructions in the order of the start time of mission execution and store them in both DDR and MRAM simultaneously, which is not easily lost when powered off. At the same time, the satellite payload integrated processor will compare the broadcast satellite service time in real time. When the start time s of the target star tracking mission instruction is reached, it proceeds to step 4 and enters the multi-target continuous tracking state.

[0077] Step 4: The satellite payload integrated processor searches for the number of the first target star to be tracked by phased array antenna beam 1 in the target star tracking mission parameters, and initializes the number of tracked target stars of phased array antenna beam 1 to 0;

[0078] The number of the first target star to be tracked by antenna beam 1 is m1.

[0079] Step 5: The satellite payload integrated processor initializes the tracked duration of the current target star to 0;

[0080] Step 6, within each pointing calculation period, the satellite payload integrated processor first determines whether the number of target satellites currently tracked by phased array antenna beam 1 is less than the number of target satellites to be tracked specified in the tracking task parameters. If so, it proceeds to Step 7 to continue the pointing calculation and tracking control for the target satellites. If not, it means that all the target satellites to be tracked by phased array antenna beam 1 specified in this task have been tracked, and the satellite payload integrated processor does not perform any processing and waits for the end of the task.

[0081] The specified duration of the pointing calculation period is 100 milliseconds. Within the current pointing calculation period, the number of target satellites tracked by antenna beam 1 is 0, while the number of target satellites to be tracked specified in the task parameters is 4. Therefore, within the current pointing calculation period, it is necessary to continue the pointing calculation and tracking control for the target satellites and proceed to Step 7.

[0082] Step 7, based on the number of satellites currently tracked by phased array antenna beam 1, the satellite payload integrated processor retrieves the current target satellite number to be tracked from the target satellite tracking task parameters, looks up the orbital parameters of this target satellite from the target satellite orbit cache, and simultaneously obtains the current attitude and orbit information of the host satellite broadcast by the satellite platform. Using this as the input, it calls the target star pointing algorithm to calculate the pointing off-axis angle and pointing azimuth angle of the host satellite to the target satellite at the current moment.

[0083] Within the current pointing calculation period, the number of satellites currently tracked by antenna beam 1 is 0. Therefore, by looking up the tracking task parameters, it can be known that the current target satellite number is m1. By looking up the cache, the orbital parameters of target satellite m1 are obtained, and the position and attitude of the host satellite at the current moment are obtained through the satellite platform broadcast. Using this as the input, the pointing calculation algorithm is called to obtain the pointing off-axis angle pitch and pointing azimuth angle fai of the host satellite to the target satellite at the current moment.

[0084] Step 8, the satellite payload integrated processor sends the pointing calculation result to phased array antenna beam 1 after limit correction to achieve the tracking control of this target satellite, and increments the tracked duration count of this target satellite by 1.

[0085] The range of the antenna azimuth angle is 0° to 360°, and the range of the antenna off-axis angle is limited between 0° and 40°. If the calculated pointing off-axis angle result pitch exceeds 40°, it is limited and protected before being sent to the phased array antenna.

[0086] The unit of the tracked duration count of the current target satellite is 100 milliseconds, which is the same as the pointing calculation period. Therefore, after performing a pointing calculation for the current target satellite within each pointing calculation period, its tracked duration is incremented by 100 milliseconds.

[0087] Step 9, the satellite payload integrated processor determines whether the tracked duration of the current target star at this time is equal to the tracking duration of this target star specified in the tracking task parameters: If so, end the tracking of the current target star, switch to the next target star specified in the tracking task parameters for tracking, that is, increment the number of tracked target satellites of phased array antenna beam 1 by 1, and then return to Step 5 to wait for the next pointing calculation cycle to perform pointing tracking on the new target star; If not, directly return to Step 7 to wait for the next pointing calculation cycle to still perform pointing tracking on the current target star;

[0088] After the end of the current pointing calculation cycle, the tracked duration of antenna beam 1 for target star m1 is 100 milliseconds, which is less than the 20 seconds specified in the task parameters. Therefore, directly return to Step 7 to wait for the next pointing calculation cycle to still perform pointing tracking on the current target star m1. Until after several pointing calculation cycles, the tracked duration of target star m1 accumulates to 20s, which is equal to the tracking duration of this target star specified in the task parameters, then increment the number of tracked target satellites of phased array antenna beam 1 by 1, and then return to Step 5 to wait for the next pointing calculation cycle to perform pointing tracking on the next target star.

[0089] Step 10, repeat Step 4 to Step 9. In each pointing calculation cycle, according to the target star tracking task parameters, perform continuous pointing tracking and switching control on multiple target stars to be tracked by phased array antenna beam 2 in parallel;

[0090] Antenna beam 2 tracks 3 target stars in this mission, and their satellite numbers are n1, n2, and n3 respectively, and the tracking durations are 15 seconds, 35 seconds, and 20 seconds respectively. Perform continuous tracking and switching on the 3 target stars of antenna beam 2 according to the same logic and judgment criteria.

[0091] Step 11, when reaching the end time of the target star tracking mission, the satellite payload integrated processor and the broadband dual-beam phased array antenna exit the multi-target continuous tracking state, enter the standby state, and delete the target star tracking task instructions and all target star orbit packets used in this mission.

[0092] Among them, the target star pointing algorithm and the ground star screening algorithm are both evolutions of some existing algorithms in the tracking algorithm. In the actual calculation process, there are many algorithms involved in pointing calculation and star target screening, which will not be elaborated here.

[0093] The satellite payload integrated processor and the broadband dual-beam phased array antenna exit the multi-target tracking state at the end of the mission. Whether all the target stars specified by the current tracking mission parameters are tracked to completion at the end of the mission, the satellite payload integrated processor and the broadband dual-beam phased array antenna will exit the multi-target tracking state. Therefore, when conducting mission planning on the ground, the total tracking duration of the two beams of the phased array antenna for multiple stars should be made as consistent as possible and equal to the mission execution duration.

[0094] When the broadcast satellite service time reaches (s + 60) seconds, the payload integrated processor and the broadband dual-beam phased array antenna exit the multi-target tracking state. Since the total tracking duration of the two beams of the antenna for their respective multiple target stars is 60 seconds each and equal to the mission duration, at this moment, the two beams of the phased array antenna have completed tracking their respective multiple target stars.

[0095] Step 12: The satellite payload integrated processor retrieves whether there are still target star tracking task instructions to be executed in the cache. If there are, it compares the satellite service broadcast time with the start time of the target star tracking task to be executed in real time. After the start time specified by the target star tracking task instruction is reached, it proceeds to Step 4 and enters the multi-target continuous tracking state. If not, it waits in the standby state for receiving new target star tracking task instructions and target star orbits uploaded from the ground, or waits for shutdown.

[0096] In the embodiment of the present invention, there are no target star tracking task instructions to be executed in the cache of the satellite payload integrated processor, and no new target star tracking task instructions and target star orbits are uploaded from the ground. Therefore, the satellite payload integrated processor and the broadband dual-beam phased array antenna will wait for shutdown.

[0097] Although the present invention has been disclosed above with preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make possible changes and modifications to the technical solution of the present invention by using the methods and technical contents disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes, and decorations made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention all fall within the protection scope of the technical solution of the present invention.

[0098] The content not described in detail in the specification of the present invention belongs to the well-known technology of those skilled in the art.

Claims

1. An adaptive continuous tracking switching method based on multiple objectives, characterized in that Including: Power-on initialization processing for the satellite payload integrated processor and broadband dual-beam phased array antenna carried on the satellite; All target stars to be tracked are screened through the ground station, and the corresponding orbits and satellite numbers are encapsulated into a target star orbit packet and uploaded to the satellite payload integrated processor; The information of the target stars to be tracked corresponding to the two beams of the broadband dual-beam phased array antenna is screened through the ground station, and the target information to be tracked for each beam is encapsulated into a corresponding target star tracking task instruction and uploaded to the satellite payload integrated processor; The mission information in the target star orbit packet and the target star tracking task instruction is locally cached, the broadcast satellite service time is received and compared, and when the broadcast satellite service time reaches the mission start time in the target star tracking task instruction, it enters the multi-target continuous tracking state; Find the number of the first target star to be tracked by the first phased array antenna beam in the mission from the target information to be tracked, initialize the number of target stars already tracked by the first phased array antenna beam to 0, and initialize the tracked duration of the current target star to 0; Preset the pointing calculation period. In each pointing calculation period, it is judged whether the number of currently tracked target stars of the first phased array antenna beam is less than the number of target satellites to be tracked specified in this mission. If it is less, pointing calculation and tracking control are performed on the target stars to be tracked; otherwise, all the target satellites to be tracked by the first phased array antenna beam specified in this mission have been tracked, and the satellite payload integrated processor does not operate until the mission end time; According to the number of satellites currently tracked by the first phased array antenna beam, obtain the number of the target star to be tracked currently from the mission information, find the orbital parameters of the current target star from the orbital information of the target stars to be tracked according to the target star number, and at the same time obtain the current attitude and orbit information of the on-body satellite broadcast by the satellite platform, and calculate the off-axis angle and azimuth angle of the on-body satellite pointing to the target star at the current moment; Perform limit correction on the calculation result and send it to the first phased array antenna beam, perform tracking control on the current target star according to the limit correction result, and increment the tracked duration count of the current target star by 1; Judge whether the tracked duration of the current target star is equal to the tracked duration of the current target star specified in this mission. If so, end the tracking of the current target star, switch to the next target star to be tracked for tracking, increment the number of target satellites already tracked by the first phased array antenna beam by 1, and perform pointing tracking on the next target star when the next pointing calculation period arrives; Otherwise, wait for the next pointing calculation period to arrive and still perform pointing tracking on the current target star; When the target star tracking of the first phased array antenna beam is in progress, the target star tracking of the second phased array antenna beam is synchronized. When all the target satellites to be tracked by the first phased array antenna beam and the second phased array antenna beam have been tracked, exit the multi-target continuous tracking state, enter the standby state, and delete the target star tracking task instruction and all target star orbit packets used in this mission.

2. The adaptive continuous tracking and switching method based on multi-targets according to claim 1, characterized in that: The information of the target star to be tracked includes the numbers of all target stars that need to be tracked by the two beams of the broadband dual-beam phased array antenna respectively, the tracking order, the tracking duration of each star, and the start time and end time of this tracking task. After exiting the multi-target continuous tracking state, the satellite payload integrated processor retrieves whether there are still target star tracking task instructions to be executed in the cached information. If so, it compares the satellite service broadcast time with the start time of the target star tracking task to be executed in real time. When the start time of the target star tracking task specified in the target star tracking task instruction is reached, it re-enters the multi-target continuous tracking state; otherwise, it waits in the standby state for receiving new target star tracking task instructions and target star orbit packets uplinked from the ground, or waits for shutdown.

3. The adaptive continuous tracking switching method based on multi-targets according to claim 1, wherein: The two beams of the broadband dual-beam phased array antenna are independently controlled to point and independently perform continuous tracking on different target stars; the working frequency bands include X band, Ku band, Ka band or other bands required by the mission, meeting the constraint conditions of the antenna working frequency range.

4. The adaptive continuous tracking switching method based on multi-targets according to claim 1, wherein: During the uplink process of the target star orbit packet and the target star tracking task instruction, within the satellite transit period, it is uplinked to the satellite body through the TT&C channel and forwarded by the satellite body to the satellite payload integrated processor. In the target star tracking task instruction information, the maximum support for a single target star tracking task is the continuous tracking of 2m target stars, and each phased array antenna beam corresponds to m stars. The maximum cache of the satellite payload integrated processor is n target star tracking task instructions and the corresponding 2m×n target star orbit information. The start and end times of different target star tracking tasks do not overlap, and the values of m and n are set according to the actual scenario requirements and the cache capacity of the satellite payload integrated processor.

5. The adaptive continuous tracking switching method based on multi-targets according to claim 1, wherein: The method for the ground station to screen the information of the target stars to be tracked corresponding to the two beams respectively is: Screen all target star orbits within the scanning range of the dual-beam phased array antenna during the specified task period, select a preset number of target stars whose selected visibility conditions meet the requirements, and allocate them to the first phased array antenna beam and the second phased array antenna beam respectively, and perform the tracking sorting and tracking duration planning of the target stars corresponding to each antenna beam, and encapsulate the target information to be tracked of each beam into a target star tracking task instruction according to the sorting and planning results.

6. The adaptive continuous tracking switching method based on multi-targets according to claim 1, wherein: After receiving the target star tracking task instruction, the payload integrated processor determines whether the start execution time of the target star tracking task instruction is greater than the current time. If so, this task has expired, and the target star tracking task instruction is directly deleted. Otherwise, the satellite payload integrated processor sorts all the received target star tracking task instructions in the order of the start execution time and stores them.

7. A multi-objective based adaptive continuous tracking switching method according to claim 1, characterized in that: The satellite payload integrated processor locally caches the target star orbit and the target star tracking task instruction uploaded from the ground in the DDR and MRAM; after the end of the current power-on operation, when powered on next time, the satellite payload integrated processor reads back all the target star orbits and the target star tracking task parameters from the MRAM to save satellite platform resources.

8. A multi-objective based adaptive continuous tracking switching method according to claim 1, characterized in that: The pointing calculation period is determined according to the pointing control frequency range that the broadband dual-beam phased array antenna can accept, and high-precision continuous tracking control of the target star is achieved by shortening the pointing calculation period; During the pointing calculation process, the position and attitude of the host star at the current moment and the target star orbit parameters are used as input data. After converting the different orbit models of the target star and the host star to be consistent and performing coordinate rotation, the azimuth angle and the off-axis angle of the host star pointing to the target star are used as output data.

9. A multi-objective based adaptive continuous tracking switching method according to claim 1, characterized in that: If the target star number and its orbit parameters to be tracked currently in this mission cannot be found from the uploaded target star orbits, then during the tracking period of the target star to be tracked currently, the phased array antenna is default controlled to point to the normal direction; The counting of the tracked duration, the time accuracy of the unit is determined according to the user requirements of this mission information.

10. A multi-objective based adaptive continuous tracking switching method according to claim 1, characterized in that: The satellite payload integrated processor and the broadband dual-beam phased array antenna exit the multi-objective tracking state at the end of the mission. Regardless of whether all the target stars specified by the tracking task parameters of this mission are tracked to completion at the end of the mission, the satellite payload integrated processor and the broadband dual-beam phased array antenna both exit the multi-objective tracking state; When the ground station conducts mission planning, it ensures that the total tracking duration of the first phased array antenna beam and the second phased array antenna beam for each target star is the same, and the total tracking duration is equal to the mission execution duration.

Images