Satellite cluster formation control method and device based on finite space controller

Abstract

The invention provides a satellite cluster formation control method and device based on a finite space controller. The method can be used for a satellite cluster and comprises 1 dominant satellites and m following satellites, and 1 and m are integers larger than or equal to one. The method comprises the steps that a dominant-following communication measurement network of a satellite cluster is established according to an interaction mode between l dominant satellites and m following satellites, the interaction mode comprises a GPS interaction mode and an internal equipment interaction mode, and the dominant-following communication measurement network comprises a GPS communication coefficient related to the GPS interaction mode and an internal equipment communication coefficient related to the internal equipment interaction mode; and a measured communication coefficient associated with the manner of interaction of the internal device; and calculating the control quantity of each following satellite according to the dominant-following communication measurement network, the respective positions and speeds of the 1 dominant satellites and the respective positions and speeds of the m following satellites, and respectively controlling the m following satellites according to the corresponding control quantities, so that the m following satellites can quickly enter the spatial range of the corresponding dominant satellites.

Description

Technical Field

[0001] The present invention mainly relates to the technical field of satellite cluster formation, and particularly relates to a satellite cluster formation control method and device based on a finite space controller. Background Art

[0002] In a satellite cluster, each satellite works in cooperation with other satellites to jointly complete complex tasks such as space situation awareness, space operations, remote sensing communication, etc. To ensure the smooth completion of the tasks, it is often necessary to make the follower satellites in the satellite cluster fly into the range surrounded by the leading satellites within a limited time.

[0003] Existing centralized formation methods for satellite clusters have deficiencies such as low accuracy, slow speed, and poor stability, and are easily affected by factors such as uncertain atmospheric perturbations and communication interference, resulting in the problem that the satellite cluster cannot maintain the relative consistency of the formation flight positions. Summary of the Invention

[0004] The purpose of the present invention is to provide a satellite cluster formation control method and device based on a finite space controller to solve the above problems.

[0005] In a first aspect, the present application provides a satellite cluster formation control method based on a finite space controller. The satellite cluster includes l leading satellites and m follower satellites, where l and m are integers greater than or equal to 1. The method includes:

[0006] Establish a leader-follower communication measurement network for the satellite cluster according to the interaction method between the l leading satellites and the m follower satellites. The interaction method includes: GPS interaction method and internal device interaction method. The leader-follower communication measurement network includes: a GPS communication coefficient related to the GPS interaction method, and a measurement communication coefficient related to the internal device interaction method;

[0007] Calculate the control amount of each follower satellite according to the leader-follower communication measurement network, the positions and velocities of the l leading satellites respectively, and the positions and velocities of the m follower satellites respectively, and control the m follower satellites respectively according to the corresponding control amounts, so that the m follower satellites can quickly enter the space range of the corresponding leading satellites.

[0008] Optionally, establishing the leader-follower communication measurement network for the satellite cluster includes:

[0009] Establish the leader-follower communication measurement network by using the following expression:

[0010]

[0011] wherein, NET is the master-follower communication measurement network, n is the total number of satellites in the satellite cluster, i.e., n = m + l, GPS xy is the GPS communication coefficient between satellite x and satellite y, CD xy is the measurement communication coefficient between satellite x and satellite y, where satellite x and satellite y refer to any satellite in the satellite cluster, x = 1,..., n and y = 1,..., n.

[0012] Optionally, in the master-follower communication measurement network, the GPS xy value is 1 or 0; wherein, the GPS xy value of 1 is used to indicate that data can be interacted between satellite x and satellite y through the GPS interaction method, and the GPS xy value of 0 is used to indicate that data cannot be interacted between satellite x and satellite y through the GPS interaction method;

[0013] The CD xy value is 1 or 0; wherein, the CD xy value of 1 is used to indicate that data can be interacted between satellite x and satellite y through the internal device interaction method, and the CD xy value of 0 is used to indicate that data cannot be interacted between satellite x and satellite y through the internal device interaction method.

[0014] Optionally, calculating the control amount of each follower satellite includes:

[0015] For the i-th follower satellite, find the element in the i-th row and j-th column from the master-follower communication measurement network as the measurement network coefficient of the i-th follower satellite, where i is the number of the i-th follower satellite in the satellite cluster, and j is the number of the j-th master satellite corresponding to the i-th follower satellite in the satellite cluster, i = 1,..., m and j = 1,..., l;

[0016] Calculate the control amount of the i-th follower satellite according to the measurement network coefficient, the position and velocity of the i-th follower satellite, and the position and velocity of the j-th master satellite.

[0017] Optionally, calculating the control amount of the i-th follower satellite includes:

[0018] For the x-axis, y-axis, and z-axis of the i-th follower satellite, calculate the x-axis component, y-axis component, and z-axis component of the position and velocity of the i-th follower satellite relative to the j-th master satellite;

[0019] Calculate the control quantity of the \(i\)th following satellite based on the measured network coefficient, the position and velocity of the \(i\)th following satellite relative to the reference satellite, the position and velocity of the \(i\)th following satellite relative to the reference satellite, and the \(x\)-axis component, \(y\)-axis component, and \(z\)-axis component of the position and velocity of the \(i\)th following satellite relative to the \(j\)th leading satellite.

[0020] Optionally, calculating the control quantity of the \(i\)th following satellite includes:

[0021] Calculate the control quantity of the \(i\)th following satellite using the following expression:

[0022]

[0023] where \(u\) i represents the control quantity of the \(i\)th following satellite, \(NET\) ij represents the element in the \(i\)th row and \(j\)th column of the leading-following communication measurement network, \(k1\) represents the first gain, \(k2\) represents the second gain, \(e\) represents the base of the natural logarithm, \(p\) i represents the position of the \(i\)th following satellite relative to the reference satellite, \(p\) j represents the position of the \(j\)th leading satellite relative to the reference satellite, \(\cos(\cdot)\) represents the cosine operation, \(v\) i represents the velocity of the \(i\)th following satellite relative to the reference satellite, \(v\) j represents the velocity of the \(j\)th leading satellite relative to the reference satellite, \(sgn(\cdot)\) represents the sign function, \(S\) x_i represents the \(x\)-axis switching function of the \(i\)th following satellite, \(S\) y_i represents the \(y\)-axis switching function of the \(i\)th following satellite, \(S\) z_i represents the \(z\)-axis switching function of the \(i\)th following satellite, \(\omega\) represents the average orbital angular velocity of the reference satellite, \(x\) i represents the \(x\)-axis component of the position of the \(i\)th following satellite relative to the reference satellite, \(y\) i represents the \(y\)-axis component of the position of the \(i\)th following satellite relative to the reference satellite, \(z\) i represents the \(z\)-axis component of the position of the \(i\)th following satellite relative to the reference satellite, \(\alpha\) represents the position gain coefficient, \(\beta\) represents the velocity gain coefficient, \(x\) ij represents the \(x\)-axis component of the position of the \(i\)th following satellite relative to the \(j\)th leading satellite, \(y\) ij represents the \(y\)-axis component of the position of the \(i\)th following satellite relative to the \(j\)th leading satellite, \(z\) ij represents the \(z\)-axis component of the position of the \(i\)th following satellite relative to the \(j\)th leading satellite, \(v\) x_ijThe x-axis component of the velocity of the i-th following satellite relative to the j-th leading satellite, v y_ij The y-axis component of the velocity of the i-th following satellite relative to the j-th leading satellite, v z_ij The z-axis component of the velocity of the i-th following satellite relative to the j-th leading satellite.

[0024] Optionally, the value of the first gain is 0.5, the value of the second gain is 0.7, the value of the position gain coefficient is 0.3, and the value of the velocity gain coefficient is 0.8.

[0025] In a second aspect, the present application provides a satellite cluster formation control device based on a finite space controller, including: a device for executing the method according to any one of the first aspect.

[0026] In a third aspect, the present application provides an electronic device, including one or more processors; and one or more memories coupled to the one or more processors and storing instructions thereon, when the instructions are executed by the one or more processors alone or jointly, causing the electronic device to execute the method according to any one of the first aspect.

[0027] In a fourth aspect, the present application provides a storage medium, which stores computer program instructions for causing a computer to execute the method according to any one of the above first aspect.

[0028] Compared with the prior art, the present application has the following advantages:

[0029] The present application provides a satellite cluster formation control method and device based on a finite space controller. By establishing a master-follower communication measurement network, secure and reliable communication between satellites can be achieved, the ability of the satellite cluster to cope with external network attacks can be improved, and the security level of the satellite cluster can be enhanced. Further, the method of calculating the control quantity uses a finite space controller, which can achieve fast consistent control of the position and velocity of the satellite cluster, accurately control each satellite within the defined space area, and improve the collaborative operation level of the satellite cluster. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Including the drawings is to provide a further understanding of the present application. They are incorporated and constitute a part of the present application. The drawings illustrate embodiments of the present application and, together with this specification, serve to explain the principles of the present application. In the drawings:

[0031] Figure 1 It is a schematic diagram of flowchart 100 of a satellite cluster formation control method based on a finite space controller shown in the present application;

[0032] Figure 2It is a schematic diagram of the position error of the following satellite a in a simulation test shown in this application;

[0033] Figure 3 It is a schematic diagram of the speed error of the following satellite a in a simulation test shown in this application;

[0034] Figure 4 It is a schematic diagram of an electronic device shown in this application. Detailed implementation manners

[0035] To more clearly illustrate the technical solutions of the embodiments of this application, the following will briefly introduce the accompanying drawings required for the description of the embodiments. Obviously, the accompanying drawings in the following description are only some examples or embodiments of this application. For those of ordinary skill in the art, without creative efforts, this application can also be applied to other similar scenarios based on these drawings. Unless obvious from the language context or otherwise stated, the same reference numerals in the figures represent the same structure or operation.

[0036] As shown in this application and the claims, unless the context clearly indicates an exceptional situation, words such as "a", "an", "one" and / or "the" are not specifically singular and may also include the plural. Generally speaking, the terms "comprising" and "including" only indicate the inclusion of the clearly identified steps and elements, and these steps and elements do not constitute an exclusive list. The method or device may also include other steps or elements.

[0037] In addition, it should be noted that using words such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Without further statement, the above words have no special meaning and therefore cannot be understood as a limitation on the protection scope of this application. In addition, although the terms used in this application are selected from well-known and commonly used terms, some of the terms mentioned in the description of this application may be selected by the applicant according to his or her judgment, and their detailed meanings are described in the relevant parts of this description. In addition, it is required to understand this application not only through the actual terms used, but also through the meaning implied by each term.

[0038] The satellite cluster mentioned in this embodiment includes l leading satellites and m following satellites, where l and m are integers greater than or equal to one. As an example, m = 20 and l = 5, that is, the satellite cluster includes 5 leading satellites and 20 following satellites.

[0039] Figure 1 It is a flowchart 100 of a satellite cluster formation control method based on a finite space controller shown in this application. As Figure 1 , including:

[0040] S101. Establish a leader-follower communication measurement network for the satellite cluster according to the interaction mode between l leading satellites and m following satellites.

[0041] Among them, the interaction modes include: GPS interaction mode and internal device interaction mode. The leader-follower communication measurement network includes: GPS communication coefficients related to the GPS interaction mode, and measurement communication coefficients related to the internal device interaction mode.

[0042] It will be understood that the internal device interaction mode can specifically refer to interaction through antennas, radars, receivers, etc. inside the leading satellite or following satellite, and there is no limitation on this.

[0043] S102. Calculate the control quantity of each following satellite according to the leader-follower communication measurement network, the positions and velocities of the l leading satellites respectively, and the positions and velocities of the m following satellites respectively, and control the m following satellites according to the corresponding control quantities respectively, so that the m following satellites can quickly enter the spatial range of the corresponding leading satellite.

[0044] Optionally, establishing the leader-follower communication measurement network for the satellite cluster includes:

[0045] Establish the leader-follower communication measurement network using the following expression (1):

[0046]

[0047] Among them, NET is the leader-follower communication measurement network, n is the total number of satellites in the satellite cluster, that is, n = m + l, GPS xy is the GPS communication coefficient between satellite x and satellite y, CD xy is the measurement communication coefficient between satellite x and satellite y, where satellite x and satellite y refer to any satellite in the satellite cluster, x = 1,..., n and y = 1,..., n.

[0048] As shown in expression (1), by establishing the leader-follower communication measurement network in this application, secure and reliable communication between satellites can be achieved, the ability of the satellite cluster to cope with external network attacks can be improved, and the security level of the satellite cluster can be enhanced.

[0049] Optionally, in the leader-follower communication measurement network, the value of GPS xy is 1 or 0; among them, when the value of GPS xy is 1, it is used to indicate that satellite x and satellite y can interact data through the GPS interaction mode, and when the value of GPS xy is 0, it is used to indicate that satellite x and satellite y cannot interact data through the GPS interaction mode;

[0050] Furthermore, CD xyThe value is 1 or 0; where CD xy A value of 1 is used to indicate that data can be interacted between satellite x and satellite y through the internal device interaction method, CD xy A value of 0 is used to indicate that data cannot be interacted between satellite x and satellite y through the internal device interaction method.

[0051] Optionally, calculate the control amount of each following satellite, including:

[0052] For the i-th following satellite, find the element in the i-th row and j-th column from the leader-follower communication measurement network as the measurement network coefficient of the i-th following satellite, where i is the number of the i-th following satellite in the satellite cluster, j is the number of the j-th leading satellite corresponding to the i-th following satellite in the satellite cluster, i = 1,..., m and j = 1,..., l;

[0053] Calculate the control amount of the i-th following satellite according to the measurement network coefficient, the position and velocity of the i-th following satellite, and the position and velocity of the j-th leading satellite.

[0054] Optionally, calculating the control amount of the i-th following satellite includes:

[0055] For the x-axis, y-axis, and z-axis of the i-th following satellite, calculate the x-axis component, y-axis component, and z-axis component of the position and velocity of the i-th following satellite relative to the j-th leading satellite;

[0056] Calculate the control amount of the i-th following satellite according to the measurement network coefficient, the position and velocity of the i-th following satellite relative to the reference satellite, the position and velocity of the i-th following satellite relative to the reference satellite, and the x-axis component, y-axis component, and z-axis component of the position and velocity of the i-th following satellite relative to the j-th leading satellite.

[0057] Optionally, calculating the control amount of the i-th following satellite includes:

[0058] Calculate the control amount of the i-th following satellite using the following expression (2):

[0059]

[0060] where, u i represents the control amount of the i-th following satellite, NET ij represents the element in the i-th row and j-th column in the leader-follower communication measurement network, k1 represents the first gain, k2 represents the second gain, e represents the base of the natural logarithm, p i represents the position of the i-th following satellite relative to the reference satellite, p j represents the position of the j-th leading satellite relative to the reference satellite, cos(·) represents the cosine operation, vi represents the velocity of the \(i\)-th following satellite relative to the reference satellite, \(v\) j represents the velocity of the \(j\)-th leading satellite relative to the reference satellite, and sgn(·) represents the sign function, \(S\) x_i represents the x-axis switching function of the \(i\)-th following satellite, \(S\) y_i represents the y-axis switching function of the \(i\)-th following satellite, \(S\) z_i represents the z-axis switching function of the \(i\)-th following satellite, \(\omega\) represents the mean orbital angular velocity of the reference satellite, \(x\) i represents the x-axis component of the position of the \(i\)-th following satellite relative to the reference satellite, \(y\) i represents the y-axis component of the position of the \(i\)-th following satellite relative to the reference satellite, \(z\) i represents the z-axis component of the position of the \(i\)-th following satellite relative to the reference satellite, \(\alpha\) represents the position gain coefficient, \(\beta\) represents the velocity gain coefficient, \(x\) ij represents the x-axis component of the position of the \(i\)-th following satellite relative to the \(j\)-th leading satellite, \(y\) ij represents the y-axis component of the position of the \(i\)-th following satellite relative to the \(j\)-th leading satellite, \(z\) ij represents the z-axis component of the position of the \(i\)-th following satellite relative to the \(j\)-th leading satellite, \(v\) x_ij represents the x-axis component of the velocity of the \(i\)-th following satellite relative to the \(j\)-th leading satellite, \(v\) y_ij represents the y-axis component of the velocity of the \(i\)-th following satellite relative to the \(j\)-th leading satellite, \(v\) z_ij represents the z-axis component of the velocity of the \(i\)-th following satellite relative to the \(j\)-th leading satellite.

[0061] Specifically, the reference satellite can be any satellite in the satellite cluster or a specified satellite outside the satellite cluster, and there is no limitation on this.

[0062] Optionally, the value of the first gain \(k1\) is 0.5, the value of the second gain \(k2\) is 0.7, the value of the position gain coefficient \(\alpha\) is 0.3, and the value of the velocity gain coefficient \(\beta\) is 0.8.

[0063] Taking a certain following satellite \(a\) in the satellite cluster as an example, the steps in flowchart 100 are executed in the simulation test to verify the control effect on the following satellite \(a\) in the satellite cluster.

[0064] Figure 2 This shows the position error of the following satellite \(a\) in a simulation test of this application. As Figure 2As shown, its horizontal axis represents time, and its vertical axis represents the position error between the actual position and the theoretical position of the follower satellite a in the simulation test. It can be seen that after 500 s, the position errors of the follower satellite a in the x-axis component, y-axis component, and z-axis component are all less than 1 km, and after 1500 s, the position errors of the follower satellite a in the x-axis component, y-axis component, and z-axis component are close to 0. Therefore, the position of the follower satellite a during formation flight can be quickly and effectively controlled.

[0065] Similarly, Figure 3 This shows the speed error of the follower satellite a in a simulation test according to the present application. As Figure 3 shown, its horizontal axis represents time, and its vertical axis represents the speed error between the actual position speed and the theoretical speed of the follower satellite a in the simulation test. It can be seen that after 1000 s, the speed errors of the follower satellite a in the x-axis component, y-axis component, and z-axis component are all less than -1 m / s, and after 1500 s, the speed errors of the follower satellite a in the x-axis component, y-axis component, and z-axis component are close to 0. Therefore, the speed of the follower satellite a during formation flight can also be quickly and effectively controlled. Thus, it can be proved that for each follower satellite, process 100 can achieve fast and consistent control of the position and speed of the satellite cluster, accurately control each satellite within the defined space area, and thereby improve the collaborative operation level of the satellite cluster.

[0066] Furthermore, an embodiment of the present application further provides a satellite cluster formation control device based on a finite space controller, including: a device for executing the method shown in flowchart 100.

[0067] Furthermore, as Figure 4 shown, an exemplary embodiment of the present application further provides an electronic device, including a memory 401 and a processor 402. Instructions are stored in the memory 401, and when the instructions are executed by the processor 302, the processor 402 executes the method according to any one of the first aspects.

[0068] It should be understood that the processor mentioned in the embodiments of the present application may be a CPU, or may also be other general-purpose processors, DSPs, ASICs, FPGAs, or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor, or the processor may also be any conventional processor, etc.

[0069] It should also be understood that the memory mentioned in the embodiments of the present application may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory, an erasable programmable read-only memory, an electrically erasable programmable read-only memory, or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example but not limitation, many forms of RAM are available, such as static random access memory, dynamic random access memory, synchronous dynamic random access memory, double data rate synchronous dynamic random access memory, enhanced synchronous dynamic random access memory, synchronous link dynamic random access memory, and direct memory bus random access memory.

[0070] The present application also provides a storage medium storing computer program instructions, which, when executed by a processor of a computer, cause the computer to perform the steps of any of the methods mentioned above.

[0071] A computer-readable medium may include a propagated data signal having computer program code embodied therein, for example, on a baseband or as part of a carrier wave. The propagated signal may take many forms, including electromagnetic, optical, and the like, or any suitable combination thereof. A computer-readable medium may be any computer-readable medium other than a computer-readable storage medium that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code located on a computer-readable medium may be propagated by any appropriate medium, including radio, cable, fiber optic cable, radio frequency signal, or similar media, or any combination of the foregoing.

[0072] The basic concepts have been described above. Obviously, for those skilled in the art, the above invention disclosure is only an example and does not constitute a limitation to the present application. Although not explicitly stated herein, those skilled in the art may make various modifications, improvements, and corrections to the present application. Such modifications, improvements, and corrections are proposed in the present application, so such modifications, improvements, and corrections still fall within the spirit and scope of the exemplary embodiments of the present application.

[0073] Meanwhile, this application uses specific terms to describe the embodiments of this application. For example, "one embodiment", "an embodiment", and / or "some embodiments" mean a certain feature, structure, or characteristic related to at least one embodiment of this application. Therefore, it should be emphasized and noted that "an embodiment" or "one embodiment" or "an alternative embodiment" mentioned twice or more at different positions in this specification does not necessarily refer to the same embodiment. In addition, certain features, structures, or characteristics in one or more embodiments of this application can be appropriately combined.

[0074] Some aspects of this application can be executed entirely by hardware, entirely by software (including firmware, resident software, microcode, etc.), or by a combination of hardware and software. The above-mentioned hardware or software can all be referred to as "data blocks", "modules", "engines", "units", "components", or "systems". The processor can be one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DAPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), processors, controllers, microcontrollers, microprocessors, or combinations thereof. In addition, aspects of this application may be embodied as a computer product located in one or more computer-readable media, which includes computer-readable program code. For example, computer-readable media can include, but are not limited to, magnetic storage devices (such as hard disks, floppy disks, magnetic tapes...), optical disks (such as compact disks CD, digital versatile disks DVD...), smart cards, and flash memory devices (such as cards, sticks, key drives...).

[0075] The computer-readable medium may contain a propagated data signal containing computer program code, such as on a baseband or as part of a carrier wave. This propagated signal may have various forms of representation, including electromagnetic form, optical form, etc., or a suitable combination of forms. The computer-readable medium can be any computer-readable medium other than a computer-readable storage medium, which can be connected to an instruction execution system, apparatus, or device to implement communication, propagation, or transmission for use of the program. The program code located on the computer-readable medium can be propagated through any suitable medium, including radio, cable, fiber optic cable, radio frequency signal, or similar media, or any combination of the above media.

[0076] Similarly, it should be noted that, in order to simplify the presentation of this application disclosure and thus help the understanding of one or more embodiments of the invention, in the previous description of the embodiments of this application, sometimes multiple features are grouped into one embodiment, drawing, or description thereof. However, this disclosure method does not mean that the features required by the subject matter of this application are more than those mentioned in the claims. In fact, the features of the embodiment are less than all the features of the single embodiment disclosed above.

[0077] In some embodiments, numbers are used to describe components and the quantity of attributes. It should be understood that such numbers used in the description of embodiments are modified by the modifiers "about", "approximately" or "substantially" in some examples. Unless otherwise specified, "about", "approximately" or "substantially" indicate that the stated number allows a variation of ±20%. Accordingly, in some embodiments, the numerical parameters used in the specification and claims are approximate values, which may vary according to the characteristics required by individual embodiments. In some embodiments, the numerical parameters should consider the specified significant digits and adopt the method of retaining the general number of digits. Although the numerical ranges and parameters used in some embodiments of the present application to confirm the breadth of their scope are approximate values, in specific embodiments, such numerical settings are made as precise as possible within the feasible range.

[0078] Although the present application has been described with reference to the current specific embodiments, those of ordinary skill in the art should recognize that the above embodiments are only used to illustrate the present application, and various equivalent changes or substitutions can be made without departing from the spirit of the present application. Therefore, as long as the changes and modifications to the above embodiments are within the scope of the spirit of the present application, they will fall within the scope of the claims of the present application.

Claims

1. A satellite cluster formation control method based on a limited space controller, characterized in that The satellite cluster includes l leading satellites and m following satellites, where l and m are integers greater than or equal to one. The method includes: Establishing a leader-follower communication measurement network for the satellite cluster according to the interaction mode between the l leading satellites and the m following satellites. The interaction mode includes: GPS interaction mode and internal device interaction mode. The leader-follower communication measurement network includes: a GPS communication coefficient related to the GPS interaction mode, and a measurement communication coefficient related to the internal device interaction mode; Calculating the control quantity of each following satellite according to the leader-follower communication measurement network, the positions and velocities of the l leading satellites respectively, and the positions and velocities of the m following satellites respectively, and controlling the m following satellites respectively according to the corresponding control quantities, so that the m following satellites can quickly enter the space range of the corresponding leading satellite.

2. The method according to claim 1, characterized in that, The establishing of the leader-follower communication measurement network for the satellite cluster includes: Establishing the leader-follower communication measurement network by using the following expression: Among them, NET is the master-follower communication measurement network, n is the total number of satellites in the satellite cluster, that is, n = m + l, GPS xy is the GPS communication coefficient between satellite x and satellite y, CD xy is the measurement communication coefficient between satellite x and satellite y, where satellite x and satellite y refer to any satellite in the satellite cluster, x = 1,..., n and y = 1,..., n.

3. The method according to claim 2, wherein In the master-follower communication measurement network, the GPS xy has a value of 1 or 0; wherein, the GPS xy having a value of 1 is used to indicate that data can be exchanged between the satellite x and the satellite y through the GPS interaction method, and the GPS xy having a value of 0 is used to indicate that data cannot be exchanged between the satellite x and the satellite y through the GPS interaction method; The CD xy has a value of 1 or 0; wherein, the CD xy having a value of 1 is used to indicate that the satellite x and the satellite y can interact data through an internal device interaction method, and the CD xy having a value of 0 is used to indicate that the satellite x and the satellite y cannot interact data through an internal device interaction method.

4. The method according to any one of claims 1-3, characterized in that, The calculating of the control quantity of each following satellite includes: For the i-th following satellite, finding the element in the i-th row and j-th column from the leader-follower communication measurement network as the measurement network coefficient of the i-th following satellite, where i is the number of the i-th following satellite in the satellite cluster, j is the number of the j-th leading satellite corresponding to the i-th following satellite in the satellite cluster, i = 1,..., m and j = 1,..., l; Calculating the control quantity of the i-th following satellite according to the measurement network coefficient, the position and velocity of the i-th following satellite, and the position and velocity of the j-th leading satellite.

5. The method according to claim 4, characterized in that, The calculating of the control quantity of the i-th following satellite includes: For the x-axis, y-axis, and z-axis of the i-th following satellite, calculating the x-axis component, y-axis component, and z-axis component of the position and velocity of the i-th following satellite relative to the j-th leading satellite; Calculating the control quantity of the i-th following satellite according to the measurement network coefficient, the position and velocity of the i-th following satellite relative to the reference satellite, the position and velocity of the i-th following satellite relative to the reference satellite, and the x-axis component, y-axis component, and z-axis component of the position and velocity of the i-th following satellite relative to the j-th leading satellite.

6. The method according to claim 5, characterized in that, The calculating of the control quantity of the i-th following satellite includes: Calculating the control quantity of the i-th following satellite by using the following expression: where, u i represents the control quantity of the i-th following satellite, and NET ij represents the element in the i-th row and j-th column of the master-following communication measurement network, k1 represents the first gain, k2 represents the second gain, e represents the base of the natural logarithm, and p i represents the position of the i-th following satellite relative to the reference satellite, and p j represents the position of the j-th master satellite relative to the reference satellite, cos(·) represents the cosine operation, and v i represents the velocity of the i-th following satellite relative to the reference satellite, and v j represents the velocity of the j-th master satellite relative to the reference satellite, sgn(·) represents the sign function, and S x_i represents the x-axis switching function of the i-th following satellite, and S y_i represents the y-axis switching function of the i-th following satellite, and S z_i represents the z-axis switching function of the i-th following satellite, ω represents the average orbital angular velocity of the reference satellite, and x i represents the x-axis component of the position of the i-th following satellite relative to the reference satellite, and y i represents the y-axis component of the position of the i-th following satellite relative to the reference satellite, and z i represents the z-axis component of the position of the i-th following satellite relative to the reference satellite, α represents the position gain coefficient, β represents the velocity gain coefficient, and x ij represents the x-axis component of the position of the i-th following satellite relative to the j-th master satellite, and y ij represents the y-axis component of the position of the i-th following satellite relative to the j-th master satellite, and z ij represents the z-axis component of the position of the i-th following satellite relative to the j-th master satellite, and v x_ij represents the x-axis component of the velocity of the i-th following satellite relative to the j-th master satellite, and v y_ij represents the y-axis component of the velocity of the i-th following satellite relative to the j-th master satellite, and v z_ij represents the z-axis component of the velocity of the i-th following satellite relative to the j-th master satellite.

7. The method according to claim 6, wherein The value of the first gain is 0.5, the value of the second gain is 0.7, the value of the position gain coefficient is 0.3, and the value of the velocity gain coefficient is 0.

8.

8. A satellite cluster formation control device based on a limited space controller, characterized in that, Including: An apparatus for executing the method according to any one of claims 1-7.

9. An electronic device, characterized in that, Including: One or more processors; And One or more memories coupled to the one or more processors and storing instructions thereon. When the instructions are executed by the one or more processors alone or jointly, the electronic device executes the method according to any one of claims 1-7.

10. A storage medium, characterized in that, Computer program instructions are stored on the storage medium, and when the computer program instructions are executed alone or jointly by one or more processors of the computer, the computer is caused to execute the method according to any one of claims 1-7.

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