Satellite deployment method, system and device and storage medium

Abstract

The invention discloses a satellite deployment method, system and device and a storage medium, and relates to the technical field of satellite deployment. The method comprises the following steps: for a backup satellite adjusted on the same orbital plane, obtaining a relative phase angle between the backup satellite and a failure satellite after the backup satellite and the failure satellite run after the transfer time based on the transfer time required by the backup satellite to climb to a target orbit from a drift orbit, and obtaining the drift time based on the relative phase angle; for the backup satellite adjusted across the orbital plane, the running time of the backup satellite is obtained, the right ascension of the relative ascending node between the backup satellite and the failed satellite after the backup satellite and the failed satellite run after the running time is obtained based on the running time, and the adjusting time is obtained based on the right ascension of the relative ascending node; and setting the ignition time of the backup satellite based on the drift time and the adjustment time. The method has the beneficial effects of low energy consumption and short consumed time.

Description

Technical Field

[0001] The present invention relates to the field of satellite deployment technology, and in particular to a satellite deployment method, system, equipment and storage medium. Background Art

[0002] Compared with ground base stations and optical fibers, low-orbit satellite constellations have the advantages of low latency, excellent signal quality, wide coverage, and are not easily affected by the ground environment. They can operate independently of ground communication systems, and can also serve as a supplement and extension of ground communications, thereby providing communication and Internet access services for land and oceans around the world.

[0003] Megaconstellations typically consist of numerous orbital planes, each with a uniform distribution of satellites. Constellations are typically deployed using a multi-satellite launch system (MSI)—a single launch vehicle simultaneously or sequentially placing multiple satellites into their intended orbits. Due to the large number of satellites, megaconstellations require a lengthy construction cycle, with low-orbit satellites typically having a design lifespan of around five years. Consequently, during constellation construction, in-orbit satellite failures are inevitable, leading to a degradation in constellation service performance. To maintain the overall coverage of the constellation, these failed satellites must be replaced.

[0004] Small constellations in low-orbit Earth orbit typically maintain backup satellites in parking orbits. If a working satellite fails, the backup satellite in the parking orbit can be driven to climb to the same orbital position as the failed working satellite for rapid replacement. When the backup satellite in the parking orbit climbs to the orbital position of the working satellite and replaces the failed working satellite, it must ensure that the backup satellite is located at the same orbital position as the failed working satellite. This adjustment process requires the backup satellite to climb from the parking orbit (lower orbit) to the working orbit (higher orbit), and the satellite's position within the orbital plane must be adjusted to ensure that the backup satellite replaces the failed satellite at the same location, thus taking over.

[0005] In the process of replacing a failed working satellite with a backup satellite, many position parameters need to be adjusted. If the satellite first climbs from the backup orbit to the working orbit and then adjusts the position of the backup satellite on the working orbit, this process will cause large energy consumption of the satellite propulsion system and take a long time. Summary of the Invention

[0006] In view of this, an object of the present invention is to provide a satellite deployment method, system, device and storage medium.

[0007] The present invention provides a satellite deployment method, comprising the following steps: Based on the backup satellite deployment strategy, determine the adjustment type of each backup satellite on the drift orbit, which includes intra-orbital adjustment and inter-orbital adjustment. For backup satellites adjusted in the same orbital plane, the transfer time required for the backup satellite to climb from the drift orbit to the target orbit is calculated. Based on the transfer time required for the backup satellite to climb from the drift orbit to the target orbit, the relative phase angle of the backup satellite relative to the failed satellite after the backup satellite and the failed satellite have moved for the transfer time is obtained. Based on the relative phase angle, the drift time required for the backup satellite to complete the relative phase angle drift relative to the failed satellite is obtained. For backup satellites adjusted across orbital planes, the operating time of the backup satellite is calculated based on the transfer time and drift time of the backup satellite. The operating time is the sum of the transfer time and the drift time. The relative right ascension of the ascending node of the backup satellite relative to the failed satellite after the backup satellite and the failed satellite have operated for the operating time is calculated based on the operating time. The adjustment time for the backup satellite to complete the drift relative to the failed satellite relative right ascension of the ascending node is calculated based on the relative right ascension of the ascending node. Based on the drift time or the adjustment time, the ignition time of the backup satellite is set so that when the backup satellite climbs from the drift orbit to the target orbit, the backup satellite is at the position where the failed satellite is.

[0008] Optionally, the transfer time is calculated based on the continuous ignition duration supported by the maximum energy reserve of the backup satellite's propulsion system, including the following steps: Based on the satellite parameters of the backup satellite, the orbital parameters of the drift orbit, and the orbital parameters of the target orbit, the time required for the backup satellite's propulsion system to ignite and propel the backup satellite from the drift orbit to the target orbit is calculated; If the maximum energy reserve of the backup satellite's propulsion system supports a continuous ignition duration greater than the duration the backup satellite's propulsion system needs to be ignited for propulsion, the transfer time is equal to the duration the backup satellite's propulsion system needs to be ignited for propulsion; If the maximum energy reserve of the backup satellite's propulsion system only supports ignition and propulsion for a period of time in each orbital cycle and can be recharged after the energy is exhausted, then the number of circles that the backup satellite needs to orbit during the climb process is obtained by dividing the time the backup satellite's propulsion system needs to ignite and propulsion by the time the backup satellite ignites and propulsion in each orbital cycle. At this time, the transfer time is equal to the total time required for the backup satellite to orbit these number of circles.

[0009] Optionally, when the continuous ignition duration supported by the maximum energy reserve of the backup satellite's propulsion system is longer than the duration required for the backup satellite's propulsion system to ignite and propel, the transfer time is calculated by the following steps: Based on the orbital parameters of the drift orbit where the backup satellite is located and the orbital parameters of the target orbit, the height difference between the drift orbit and the target orbit is obtained; Based on the altitude difference, the velocity increment required for the backup satellite to climb from the drift orbit to the target orbit is calculated using the following formula: ; Where: Indicates the semi-major axis of the satellite orbit, in km; represents the target orbit eccentricity; , represents the Earth's gravitational constant; cosf is the true anomaly of the six elements of the orbit, represents the altitude difference between the drift orbit and the target orbit, represents the desired velocity increment; Based on the velocity increment and the backup satellite parameters, it is found that the backup satellite's propulsion system needs to ignite and propel for a period of time during the process of climbing from the drift orbit to the target orbit. , Calculated by the following formula: ; Where: F is the thrust of the backup satellite's propulsion system, m is the mass of the backup satellite; The transfer time is obtained based on the time the backup satellite's propulsion system needs to ignite and propel. , For transfer time.

[0010] Optionally, when the maximum energy reserve of the backup satellite's propulsion system only supports ignition propulsion for a period of time in each orbital cycle and can be recharged after the energy is exhausted, the transfer time is calculated by the following steps: Based on the orbital parameters of the drift orbit where the backup satellite is located and the orbital parameters of the target orbit, the height difference between the drift orbit and the target orbit is obtained; Based on the altitude difference, the velocity increment required for the backup satellite to climb from the drift orbit to the target orbit is calculated using the following formula: ; Where: represents the semi-major axis of the target orbit in km; represents the target target orbit eccentricity; , represents the Earth's gravitational constant; cosf is the true anomaly of the six elements of the orbit, represents the altitude difference between the drift orbit and the target orbit, represents the desired velocity increment; Based on the velocity increment and the backup satellite parameters, it is found that the backup satellite's propulsion system needs to ignite and propel for a period of time during the process of climbing from the drift orbit to the target orbit. , calculated by the following formula: ; Where: F is the thrust of the satellite's propulsion system, m is the mass of the satellite; Based on the ignition propulsion duration per orbital cycle supported by the maximum energy reserve of the backup satellite's propulsion system, the number of circles the backup satellite needs to make in the process of climbing to the target orbit is calculated: ; Where: N is the number of circles, Ceil is the number of circles rounded up, The duration of ignition propulsion required to back up the satellite's propulsion system, T once The duration of ignition propulsion supported by the backup satellite's propulsion system in each orbital cycle; Based on the number of orbits of the backup satellite, the total time required for the backup satellite to orbit these number of orbits is obtained; Based on the total time, the transfer time of the backup satellite is obtained, and the transfer time is equal to the total time.

[0011] Optionally, the relative phase angle is calculated by the following steps: Based on the position of the backup satellite on the drift orbit and the failed satellite on the target orbit, the phase angle that needs to be adjusted between the backup satellite and the failed satellite is obtained; based on the transfer time, the change in the phase angle difference between the backup satellite and the failed satellite after the backup satellite and the failed satellite have moved for the transfer time is obtained; based on the change in the phase angle difference, the angle difference between the change in the phase angle difference and the phase angle that needs to be adjusted is obtained, and the angle difference is the relative phase angle; The relative right ascension of the ascending node is calculated by the following steps: Based on the positions of the drift orbit and the target orbit, the right ascension of the ascending node that needs to be adjusted between the backup satellite and the failed satellite is obtained. Based on the operation time, the change in the difference in the right ascension of the ascending node between the backup satellite and the failed satellite after the backup satellite and the failed satellite have operated for the operation time is obtained. Based on the change in the difference in the right ascension of the ascending node, the angular difference between the change in the difference in the right ascension of the ascending node and the right ascension of the ascending node that needs to be adjusted is obtained. The angular difference is the relative right ascension of the ascending node.

[0012] Optionally, when the deployment strategy of the backup satellite is to adjust the phase angle within the same orbital plane, and after the transfer time drift, the backup satellite is located behind the failed satellite in the satellite movement direction, the drift time is calculated as follows: ; ; Where: is the phase angle to be adjusted, is the phase angle difference change, , represents the Earth's gravitational constant; represents the semi-major axis of the target orbit, in km; represents the difference between the semi-major axis of the drift orbit and the target orbit; The ignition timing is calculated by the following formula: ; Where: Indicates the ignition time, Indicates the current moment, represents the drift time; If after the transfer time drift, the backup satellite is ahead of the failed satellite in the direction of satellite movement, the drift time is calculated as follows: ; ; Where: is the phase angle to be adjusted, is the phase angle difference change, , represents the Earth's gravitational constant; represents the semi-major axis of the target orbit, in km; represents the difference between the semi-major axis of the drift orbit and the target orbit;

[0013] The ignition timing is calculated by the following formula: ; Where: Indicates the ignition time, Indicates the current moment, Indicates the drift time.

[0014] Optionally, when the deployment strategy of the backup satellite is to adjust the phase angle and the right ascension of the ascending node across the orbital plane, and after the operating time drift, the orbit of the backup satellite is located behind the orbit of the failed satellite in the direction of the ascending node drift, the adjustment time is calculated as follows: ; ; Where: , represents the Earth's gravitational constant; , represents the second-order spherical harmonic coefficient of the Earth's gravity field; , represents the equatorial radius of the Earth; , represents the target orbit semi-path; represents the semi-major axis of the target orbit in km; represents the target orbit eccentricity; Indicates the target orbit inclination in radians. represents the difference between the semi-major axis of the drift orbit and the target orbit; T wait_outplane To adjust the time; is the right ascension of the ascending node to be adjusted, is the change in the right ascension of the ascending node; The ignition timing is calculated by the following formula: ; Where: T fire_outplane is the ignition time, T 0_outplane is the current moment, T wait_outplane To adjust the time; If, after the operating time drift, the orbit of the backup satellite is behind the orbit of the failed satellite in the ascending node drift direction, the adjustment time is calculated as follows: ; ; Where: , represents the Earth's gravitational constant; , represents the second-order spherical harmonic coefficient of the Earth's gravity field; , represents the equatorial radius of the Earth; , represents the target orbit semi-path; represents the semi-major axis of the target orbit in km; represents the target orbit eccentricity; Indicates the target orbit inclination in radians. represents the difference between the semi-major axis of the drift orbit and the target orbit; T wait_outplane To adjust the time; is the right ascension of the ascending node to be adjusted, is the change in the right ascension of the ascending node; The ignition timing is calculated by the following formula: ; Where: T fire_outplane is the ignition time, T 0_outplane is the current moment, T wait_outplane To adjust the time.

[0015] The present invention also provides a satellite deployment system, including a satellite deployment module, a satellite navigation module, a control module and an ignition propulsion module, wherein the satellite deployment module obtains the deployment strategy of each backup satellite on a drift orbit, and sends the deployment strategy of each backup satellite to the control module and the satellite navigation module; the satellite navigation module obtains data of the backup satellite and the failed satellite based on the deployment strategy of the backup satellite, determines the orbital parameters of the backup satellite in real time, calculates the orbital period of the backup satellite, and sends the data of the backup satellite and the failed satellite to the control module; the control system executes the satellite deployment method according to any one of claims 1 to 7 according to the data transmitted by the satellite deployment module and the control module; the ignition propulsion module obtains the ignition moment sent by the control module, and drives the backup satellite to climb from the drift orbit to the target orbit.

[0016] The present invention also provides a computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the satellite deployment method described above when executing the computer program.

[0017] The present invention also provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program implements the steps of the satellite deployment method described above when executed by a processor.

[0018] The beneficial effects of the present invention are: by calculating the transfer time of the backup satellite during the climbing process, calculating the angle between the backup satellite and the failed satellite after the transfer time, and then obtaining the drift time or adjustment time required for the backup satellite to drift this angle, the ignition time of the backup satellite is set according to the drift time or adjustment time, so that when the backup satellite climbs from the drift orbit to the target orbit, the backup satellite is in the target position, thereby replacing the failed satellite, and there is no need to adjust the backup satellite, thereby reducing energy loss. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0020] Figure 1 This is a flow chart of the method of embodiment 1.

[0021] Figure 2 This is a flow chart of the method of Example 2.

[0022] Figure 3 This is a module diagram of a satellite deployment system according to the present invention. In the picture: Satellite navigation module 100; Control module 200; Ignition propulsion module 300; Satellite deployment module 400. DETAILED DESCRIPTION

[0023] Specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the described embodiments are merely some, and not all, of the embodiments of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the description of the present invention without inventive effort are intended to fall within the scope of protection of the present invention.

[0024] Unless otherwise specified or limited, the terms "disposed," "installed," and "connected" should be interpreted broadly. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; and direct or indirect connections through an intermediary. Those skilled in the art will understand the specific meanings of these terms based on the specific circumstances.

[0025] The directions or positional relationships indicated by terms such as "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inside" and "outside" are based on the directions or positional relationships shown in the accompanying drawings, or are the directions or positional relationships in which the inventive product is usually placed when in use. They are only for the convenience and simplification of description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operate in a specific direction. Therefore, they should not be understood as limiting the present invention.

[0026] The terms "first," "second," "third," etc. are merely used to distinguish between elements of similar nature and do not indicate or imply relative importance or a particular order.

[0027] The terms "comprises," "comprising," or any other variations thereof, are intended to cover a non-exclusive inclusion of elements other than the listed elements and may also include additional elements not specifically listed.

[0028] After a mega-constellation launches multiple satellites into orbit, the backup satellites typically drift far below the target orbit after separation to fully utilize the payload capacity. After the backup satellites are separated in batches, they are closely spaced. After completing various satellite platform tests, the backup satellites' propulsion systems are used to transfer them from their drift orbits to the target orbits, adjusting the positions of the backup satellites accordingly to replace the failed satellites.

[0029] There are two scenarios for adjusting backup satellites. First, when the drift orbit and target orbit are in the same orbital plane, the backup satellite's altitude and phase angle must be adjusted to allow it to continue operating in place of the failed satellite. Second, when the drift orbit and target orbit are not in the same orbital plane, the backup satellite must be adjusted across the orbital plane and its phase angle must be adjusted simultaneously. This adjustment requires adjusting the backup satellite's altitude, phase angle, and right ascension of the ascending node of its orbit, allowing it to continue operating across the orbital plane and take over the failed satellite's position.

[0030] To this end, the present application provides a satellite deployment method, comprising the following steps: Based on the backup satellite deployment strategy, determine the adjustment type of each backup satellite on the drift orbit, which includes intra-orbital adjustment and inter-orbital adjustment. For backup satellites adjusted in the same orbital plane, the transfer time required for the backup satellite to climb from the drift orbit to the target orbit is calculated. Based on the transfer time required for the backup satellite to climb from the drift orbit to the target orbit, the relative phase angle of the backup satellite relative to the failed satellite after the backup satellite and the failed satellite have operated for the transfer time is obtained. Based on the relative phase angle, the drift time for the backup satellite to complete the drift of the relative phase angle relative to the failed satellite is obtained.

[0031] For backup satellites adjusted across orbital planes, the operating time of the backup satellite is obtained based on the transfer time and drift time of the backup satellite. The operating time is the sum of the transfer time and the drift time. Based on the operating time, the right ascension of the backup satellite's ascending node relative to the failed satellite is obtained after the backup satellite and the failed satellite have operated for the operating time. Based on the relative right ascension of the ascending node, the adjustment time for the backup satellite to complete the drift relative to the failed satellite's right ascension of the ascending node is obtained.

[0032] Based on the drift time or the adjustment time, the ignition time of the backup satellite is set so that when the backup satellite climbs from the drift orbit to the target orbit, the backup satellite is at the position where the failed satellite is.

[0033] In this application, satellite adjustment in two situations is described separately in combination with the technical solutions of this application.

[0034] Example 1: like Figure 1 As shown, this embodiment describes the adjustment of satellites in the same orbital plane. This embodiment provides a satellite deployment method, including the following steps: S10. After the backup satellite completes the platform test in the drift orbit, the data of the backup satellite and the failed satellite are obtained based on the GNSS (Global Navigation Satellite System), and the orbital parameters of each backup satellite, the orbital parameters of the target orbit, and the parameters of the failed satellite are determined in real time, including the instantaneous six Kepler numbers and the semi-major axis square root of the backup satellite and the failed satellite, and the orbital period of the orbit in which the backup satellite is located during the climb process is calculated in real time.

[0035] S20. Based on the backup satellite deployment strategy, the satellite parameters of the backup satellite, and the drift orbit and orbital parameters of the target orbit obtained by GNSS, confirm the transfer time required for each backup satellite adjusted in the same orbital plane on the drift orbit to climb from the drift orbit to the target orbit, and the phase angle that needs to be adjusted during the backup satellite's climb. The phase angle that needs to be adjusted is the phase angle difference between the backup satellite on the drift orbit and the failed satellite on the target orbit.

[0036] The backup satellite's transfer time is calculated based on the duration of continuous ignition supported by the backup satellite's propulsion system's maximum energy reserves. There are various satellite propulsion systems, such as chemical and electric propulsion systems. Chemical propulsion systems operate by burning chemical fuel in a combustion chamber, converting chemical energy into heat, generating high-temperature, high-pressure combustion gas. This fuel is then expanded and accelerated through a nozzle, ejected at high speed, generating a reaction force that propels the satellite. Electric propulsion systems utilize electrical energy to heat, dissociate, and accelerate the working fluid, forming a high-speed jet that generates thrust. These systems offer the advantages of high specific impulse and low fuel consumption, and they also feature solar charging, further conserving fuel. To reduce energy loss during satellite maneuvers, the satellite's propulsion system in this embodiment is preferably an electric propulsion system. However, compared to chemical propulsion systems, electric propulsion systems have lower maximum energy storage and a shorter single-shot continuous ignition duration. While chemical propulsion systems typically have enough energy reserves to support a single continuous ignition to propel the satellite from its initial orbit to its target orbit, electric propulsion systems, due to their smaller energy reserves, may only be able to continuously ignite for a limited period within each orbital cycle, requiring solar recharge after energy depletion. Therefore, when using the electric propulsion system as the driving system, the calculation of the satellite's transfer time needs to be divided into two cases according to the continuous ignition time supported by the energy reserve of the electric propulsion system.

[0037] Specifically, the calculation of the backup satellite transfer time includes the following steps: S21. Based on the satellite parameters of the backup satellite, the orbital parameters of the drift orbit, and the orbital parameters of the target orbit, determine the time it takes for the backup satellite's propulsion system to ignite and propel itself during the process of the backup satellite climbing from the drift orbit to the target orbit.

[0038] S22. If the continuous ignition duration supported by the maximum energy reserve of the backup satellite's propulsion system is longer than the duration that the backup satellite's propulsion system needs to be ignited for propulsion, the transfer time is equal to the duration that the backup satellite's propulsion system needs to be ignited for propulsion.

[0039] S23. If the maximum energy reserve of the backup satellite's propulsion system only supports ignition and propulsion for a period of time in each orbital cycle and can be recharged after the energy is exhausted, then the number of circles that the backup satellite needs to orbit during the climb process is obtained based on the time the backup satellite's propulsion system needs to ignite and propulsion divided by the time the backup satellite needs to ignite and propulsion in each orbital cycle. At this time, the transfer time is equal to the total time required for the backup satellite to orbit these number of circles.

[0040] In both cases, the transfer time of the backup satellite is calculated as follows: When the maximum energy reserve of the backup satellite's propulsion system supports continuous ignition time longer than the backup satellite's propulsion system needs to ignite propulsion time, the transfer time is calculated by the following steps: S221. deriving a height difference between the drift orbit and the target orbit based on the orbital parameters of the drift orbit where the backup satellite is located and the orbital parameters of the target orbit; S222. Based on the altitude difference, the velocity increment required for the backup satellite to climb from the drift orbit to the target orbit is calculated using the following formula: ; Where: represents the semi-major axis of the target orbit in km; represents the target orbit eccentricity; , represents the Earth's gravitational constant; cosf is the true anomaly of the six elements of the orbit, represents the altitude difference between the drift orbit and the target orbit, represents the desired velocity increment; S223. Based on the velocity increment and the backup satellite's parameters, the backup satellite's propulsion system needs to be ignited and propelled during its climb from the drift orbit to the target orbit. , Calculated by the following formula: ; Where: F is the thrust of the backup satellite's propulsion system, and m is the mass of the backup satellite.

[0041] S224. Based on the time required for the backup satellite's propulsion system to ignite and propel, the transfer time is obtained: ; Where: For transfer time.

[0042] It should be noted that if a chemical propulsion system is used, the continuous ignition time supported by the energy reserve of the satellite's propulsion system is longer than the time required for the backup satellite's propulsion system to ignite and propel. That is, if a chemical propulsion system is used, the above formula can also be used to calculate the transfer time required for the backup satellite to ignite and propel from the drift orbit to the target orbit. .

[0043] When the backup satellite's propulsion system has a maximum energy reserve that only supports ignition for a limited period of time per orbital cycle and can be recharged after the energy is exhausted, the transfer time is calculated using the following steps: S231. deriving a height difference between the drift orbit and the target orbit based on the orbital parameters of the drift orbit where the backup satellite is located and the orbital parameters of the target orbit; S232. Based on the altitude difference, the velocity increment required for the backup satellite to climb from the drift orbit to the target orbit is calculated using the following formula: ; Where: represents the semi-major axis of the target orbit, in km; represents the target orbit eccentricity; , represents the Earth's gravitational constant; cosf is the true anomaly of the six elements of the orbit, represents the altitude difference between the drift orbit and the target orbit, represents the desired velocity increment; S233. Based on the velocity increment and the backup satellite parameters, it is determined that the backup satellite's propulsion system needs to ignite and propel for a period of time during its climb from the drift orbit to the target orbit. , calculated by the following formula: ; Where: F is the thrust of the satellite's propulsion system, and m is the mass of the satellite.

[0044] In this case, the backup satellite's propulsion system's maximum energy reserve can only support the backup satellite's ignition propulsion for a period of time during each orbital cycle. When the energy is exhausted, the backup satellite's propulsion system recharges energy through solar power and continues to ignite propulsion during the next orbital cycle. In this way, after multiple ignition propulsions, the energy obtained by the backup satellite is enough to propel it from the drift orbit to the target orbit. Therefore, if the maximum energy capacity of the electric propulsion system can only support the backup satellite's operation for a period of time during each orbital cycle, it is necessary to first calculate the number of orbits the backup satellite will make. Therefore, the following steps are required: S234. Based on the ignition propulsion duration per orbital cycle supported by the maximum energy reserve of the backup satellite's propulsion system, calculate the number of orbits the backup satellite needs to make in the process of climbing to the target orbit: ; Where: N is the number of circles, Ceil is the number of circles rounded up, The duration of ignition propulsion required to back up the satellite's propulsion system, T once It is the ignition propulsion duration supported by the backup satellite's propulsion system in each orbital cycle. The ignition propulsion duration supported by the backup satellite in each orbital cycle is related to the maximum energy reserve of the backup satellite's propulsion system and is one of the satellite parameters.

[0045] Since the ignition time required for the last lap is not equal to T once Therefore, in the last orbital cycle, the ignition time and the flameout time of the backup satellite are not based on T once To calculate, it is necessary to calculate the last ignition duration T last Steps: S235: Determine the last ignition duration T based on the number of laps required. last, the last ignition duration is T last = T control_inplane -T once* (N-1).

[0046] S236. Based on the number of orbits of the backup satellite and the time of each orbital cycle of the backup satellite measured by GNSS during the orbit, the total time required for the backup satellite to orbit these number of times is obtained.

[0047] Based on the total time, the transfer time of the backup satellite is obtained, which is equal to the total time required for the backup satellite to orbit these times.

[0048] In this case, the N orbital periods include the time it takes for the backup satellite's propulsion system to ignite and recharge after the backup satellite's propulsion system runs out of energy while orbiting the Earth. The resulting transfer time, compared to the time it takes to propel the backup satellite from its drift orbit to its target orbit using a single ignition, includes the additional time it takes to shut down and recharge the backup satellite's propulsion system after it runs out of energy during each orbital period.

[0049] In this embodiment, the backup satellite ignition propulsion strategy in this case is that each time the backup satellite flies over the apogee, once / 2 The propulsion system starts to ignite, and after passing the apogee, T once / 2 time later, the propulsion system is shut down and recharged during the subsequent revolution around the Earth. The last time before the backup satellite passes the apogee T last / 2 The propulsion system starts to ignite, and after passing the apogee, T last / 2 The propulsion system shuts down after a period of time.

[0050] S30. Based on the transfer time required for the backup satellite to climb from the drift orbit to the target orbit, a relative phase angle between the actual position of the backup satellite and the actual position of the failed satellite after the backup satellite has operated for the transfer time (the difference in phase angles between the two before the backup satellite drifts) is obtained.

[0051] Because the orbital radius of a low orbit is smaller than that of a high orbit, the backup satellite's phase angle change rate during low orbit operation is greater than that of the failed satellite in high orbit. Therefore, during the backup satellite's ascent from a low orbit to a high orbit under ignition propulsion, the backup satellite's phase angle change rate is greater than that of the failed satellite to be replaced in the target orbit. Due to these different phase angle change rates, the phase angle difference between the backup and failed satellites changes after the transfer time drift. Specifically, after the transfer time drift, the phase angle difference between the backup and failed satellites is no longer equal to the phase angle difference between the backup and failed satellites before the drift (the phase angle that needs to be adjusted). After the transfer time drift, the relative phase angle between the backup and failed satellites is the final phase angle that needs to be adjusted. Only by adjusting this phase angle to eliminate the relative phase angle difference between the backup satellite's actual position and the failed satellite's actual position after the transfer time, can the backup satellite be positioned exactly at the failed satellite's location when it reaches the target orbit.

[0052] In this embodiment, the relative phase angle is calculated as follows: S31. Based on the transfer time, the change in the phase angle difference between the backup satellite and the failed satellite under the influence of different orbital altitudes after the transfer time is obtained. Based on the change in the phase angle difference, the angle difference between the change in the phase angle difference between the backup satellite and the failed satellite after the transfer time and the phase angle that the backup satellite needs to adjust before the transfer is obtained. The angle difference is equal to the relative phase angle between the actual position of the backup satellite and the actual position of the failed satellite after the transfer time.

[0053] For example, at the current moment, there is a need for a backup satellite to replace a failed satellite. The backup satellite is in a drift orbit. Taking the 12 o'clock position of the clock hand as the reference position, the angle between the backup satellite and the reference position is 30°, and the angle between the failed satellite and the reference position is 60°. At this time, the angle between the backup satellite (initial position) on the drift orbit (low orbit) and the failed satellite (target position) on the target orbit (high orbit) needs to be adjusted to 30°. It is necessary to ensure that the phase angle between the backup satellite and the failed satellite is adjusted by 30° so that the backup satellite can take over the position of the failed satellite. It takes 40 hours for the backup satellite to climb from the drift orbit to the target orbit under the action of ignition propulsion. During the 40-hour drift process, the backup satellite and the failed satellite have different phase angle change rates. Therefore, after 40 hours of drift, the backup satellite has an angle change of 50° with the reference position after multiple orbits, and the failed satellite has an angle change of 70° with the reference position after multiple orbits. At this time, the relative phase angle between the backup satellite and the failed satellite is 20°. Therefore, the phase angle of 20° between the backup satellite and the failed satellite at this time is 10° compared with the 30° before the backup satellite drifted. According to the initial 30° adjustment minus the 10° phase angle difference change, it is obtained that the phase angle needs to be adjusted by 20° to make the backup satellite at the position of the failed satellite. The angle values used as examples in this embodiment are for explanation. During the actual adjustment process of the backup satellite, after the transfer time has passed, the actual positions of the backup satellite and the failed satellite are difficult to measure, which makes it difficult to calculate the relative phase angle between the backup satellite and the failed satellite after the transfer time drift. Therefore, by calculating the change in the phase angle difference between the backup satellite and the failed satellite during the transfer time and the actual phase angle that needs to be adjusted, the relative phase angle between the two after the transfer time has passed is obtained.

[0054] By adjusting the relative phase angle between the backup satellite and the failed satellite in the above manner, the backup satellite can be positioned exactly at the failed satellite's position when it climbs to the target orbit. The specific adjustment method is as follows: S40. Based on the relative phase angle, a drift time is determined for the backup satellite to complete the relative phase angle drift relative to the failed satellite. When the backup satellite and the failed satellite are simultaneously orbiting, their phase angles change at different rates due to their different orbital altitudes. The drift time is the time required for the relative phase angle to change under the influence of these different phase angle change rates.

[0055] S50. Based on the drift time, the ignition time of the satellite is set so that when the backup satellite drifts from the drift orbit to the target orbit, the backup satellite is located at the position of the failed satellite.

[0056] In addition, the drift time of the backup satellite needs to be calculated in two cases.

[0057] One situation is that after the drift of the transfer time, the backup satellite is behind the failed satellite in the direction of satellite orbit, that is, the phase angle needs to be adjusted to be greater than the change in the phase angle difference. At this time, it is necessary to wait for a while before starting the backup satellite's propulsion system. By waiting for a while, the backup satellite can operate on the drift orbit at a higher phase angle change rate during the waiting time (drift time), adjust the angle between the backup satellite and the failed satellite, and make the backup satellite's phase angle change faster to "catch up" with the failed satellite.

[0058] One scenario is that after the transfer time drift, the backup satellite is ahead of the failed satellite in the direction of the satellite's orbit. This means the phase angle needs to be adjusted to be less than the phase angle difference. Because the backup satellite's orbital altitude is always lower than the failed satellite's during its ascent, the backup satellite's phase angle change rate is always greater than that of the failed satellite. Since the backup satellite is ahead of the failed satellite after the transfer time drift, to ensure that the backup satellite is at the failed satellite's position when it climbs to the target orbit, the relative phase angle between the backup and failed satellites is determined to be in the direction of the satellite's orbit. The relative phase angle is calculated using the backup satellite as the starting point and the failed satellite as the end point.

[0059] Based on the above records, the drift time of the backup satellite is calculated as follows: S51. When the backup satellite is located behind the failed satellite in the direction of satellite movement after the transfer time drift, the drift time is calculated as follows: ; ; in, Greater than .

[0060] Where: is the phase angle to be adjusted, is the phase angle difference change, , represents the Earth's gravitational constant; represents the semi-major axis of the target orbit, in km; It represents the difference between the semi-major axis of the drift orbit and the target orbit.

[0061] The ignition timing is calculated by the following formula: ; Where: Indicates the ignition time, Indicates the current moment, Indicates the drift time.

[0062] Taking the above example, if the backup satellite does not ignite during the drift time, when the backup satellite is orbiting the earth in a low orbit, the backup satellite will orbit the earth at a higher phase angle change rate because the phase angle change rate of the low orbit is greater than that of the high orbit. After the operation, the relative phase angle with the failed satellite changes to 20 degrees, and the drift time is completed. After that, the backup satellite's propulsion system started to ignite and propulsion, and after 40 hours of transfer time After climbing to the target orbit, the phase angle difference between the backup satellite and the failed satellite changes by 10° during the 40 hours, plus the backup satellite's drift time. The 20° relative adjustment between the backup satellite and the failed satellite is used to adjust the 30° required between the backup satellite and the failed satellite. This can ensure that when the backup satellite climbs from the drift orbit to the target orbit, the actual adjustment angle between the backup satellite and the failed satellite is the same as the angle required to adjust between them, so that the satellite is in the target position.

[0063] S52. When the backup satellite is located ahead of the failed satellite in the direction of satellite movement after the transfer time drifts, the drift time is calculated as follows: ; ; in, Less than .

[0064] Where: is the phase angle to be adjusted, is the phase angle difference change, , represents the Earth's gravitational constant; represents the semi-major axis of the target orbit, in km; represents the difference between the semi-major axis of the drift orbit and the target orbit;

[0065] The ignition timing is calculated by the following formula: ; Where: Indicates the ignition time, Indicates the current moment, Indicates the drift time.

[0066] Taking another set of numerical values as an example, the backup satellite is currently in a drift orbit, and there is a 30° phase angle between the backup satellite and the failed satellite that needs to be adjusted. Calculation shows that after the backup satellite has operated for the transfer time, the phase angle difference between the backup satellite and the failed position has changed by 40°. At this time, since the phase angle difference between the backup satellite and the failed satellite is 40° greater than the 30° phase angle that needs to be adjusted, there is a 10° difference. As a result, the backup satellite is ahead of the failed satellite in the direction of satellite orbit. During the process of the backup satellite climbing to the target orbit, the backup satellite's phase angle change rate is always greater than the phase angle change rate of the failed satellite. The failed satellite cannot "catch up" with the backup satellite. At this time, the backup satellite needs to "wait" for the failed satellite, that is, 30° - 40° + 360° = 350°. The backup satellite needs to wait in the drift orbit for the failed satellite to approach one circle, so that when the backup satellite climbs to the target altitude, the backup satellite is at the position of the failed satellite.

[0067] In this way, the phase angle adjustment of the backup satellite can be completed synchronously during the process of climbing from the drift orbit to the target orbit, so that when the backup satellite climbs to the target orbit, the backup satellite is exactly at the position of the failed satellite. There is no need to adjust the climbing altitude and phase angle of the backup satellite separately, and the energy consumption is relatively low.

[0068] Example 2: like Figure 2 As shown, this embodiment describes the adjustment of a backup satellite across orbital planes. The backup satellite moves from a drift orbit to a target orbit on a different orbital plane. During this process, the backup satellite's orbital altitude, phase angle, and right ascension of the orbit's ascending node need to be adjusted. This embodiment provides a satellite deployment method, including the following steps: After S100 and the backup satellite complete the platform test in the drift orbit, they obtain data of the backup satellite and the failed satellite based on the GNSS (Global Navigation Satellite System), and determine the orbital parameters of each backup satellite, the orbital parameters of the target orbit, and the parameters of the failed satellite in real time, including the instantaneous six Kepler numbers and the semi-major axis square root of the backup satellite and the failed satellite, and calculate the orbital period of the orbit in which the backup satellite is located during the climb process in real time.

[0069] S200. Based on the backup satellite deployment strategy, the satellite parameters of the backup satellite, the parameters of the failed satellite, and the orbital parameters of the drift orbit and the target orbit obtained by GNSS, confirm the transfer time required for each backup satellite adjusted across the orbital plane on the drift orbit to climb from the drift orbit to the altitude of the target orbit, as well as the phase angle and the right ascension of the ascending node that need to be adjusted during the backup satellite's climb. The phase angle that needs to be adjusted is the phase angle of the backup satellite on the drift orbit relative to the failed satellite on the target orbit, and the right ascension of the ascending node of the drift orbit relative to the target orbit.

[0070] S300. Based on the transfer time required for the backup satellite to climb from the drift orbit to the target orbit, and using the method described above, the drift time required for the backup satellite to adjust its phase angle is calculated. The sum of the transfer time and the drift time is used as the operating time for adjusting the right ascension of the backup satellite's ascending node. This setting is made because the right ascension of the ascending node in the backup satellite's orbit is affected by the Earth's perturbations in real time. During the backup satellite's drift and transfer times, the right ascension of the backup satellite's ascending node continuously changes. Therefore, when a satellite deployment is currently planned, it is necessary to wait for the backup satellite to adjust its phase angle based on the calculated drift time. During this waiting period, the drift of the right ascension of the ascending node in the backup satellite's orbit should also be taken into account.

[0071] Based on the backup satellite's operating time, the relative ascending node right ascension of the backup satellite relative to the failed satellite is calculated after the backup and failed satellites have operated for the operating time. The relative ascending node right ascension is the difference in ascending node right ascension between the backup satellite's actual orbit and the failed satellite's actual orbit after the backup satellite has operated for the operating time. The adjustment time for the backup satellite to complete its drift relative to the failed satellite is also calculated based on the relative ascending node right ascension. Similar to the phase angle adjustment described above, the rate of change of the orbital ascending node right ascension is inversely proportional to the satellite's orbital altitude. The lower the satellite's orbital altitude, the greater the rate of change of the ascending node right ascension, while the higher the satellite's orbital altitude, the slower the rate of change of the ascending node right ascension. Since the backup satellite's orbital altitude is always lower than the failed satellite's orbital altitude during its climb from the drift orbit to the target orbit, the rate of change of the backup satellite's orbital ascending node right ascension is always greater than that of the failed satellite's orbit. This allows the backup satellite to adjust the relative ascending node right ascension between its orbit and the failed satellite's orbit during its operation.

[0072] Specifically, in this embodiment, the right ascension relative to the ascending node is calculated in this way: Based on the positions of the drift orbit and the target orbit, the right ascension of the ascending node that needs to be adjusted between the orbit of the backup satellite and the orbit of the failed satellite is obtained. Based on the operation time, the difference change in the right ascension of the ascending node between the backup satellite and the failed satellite after the backup satellite and the failed satellite have operated for the operation time is obtained. Based on the difference change in the right ascension of the ascending node, the angle difference between the difference change in the right ascension of the ascending node and the right ascension of the ascending node that needs to be adjusted for the backup satellite before the operation is obtained. The angle difference is equal to the relative right ascension of the ascending node between the actual orbit of the backup satellite and the actual orbit of the failed satellite after the operation time. The angle difference is the relative right ascension of the ascending node.

[0073] S400: Based on the relative right ascension of the ascending node, an adjustment time is calculated for the backup satellite to complete its drift relative to the failed satellite. When the backup satellite and the failed satellite are simultaneously orbiting, their orbital altitudes differ, resulting in different rates of change in the right ascension of the ascending node. The adjustment time is the time required for the relative right ascension of the ascending node to change under the influence of these different rates of change.

[0074] S500. Based on the adjustment time, the ignition time of the satellite is set so that when the backup satellite drifts from the drift orbit to the target orbit, the backup satellite has synchronously adjusted the phase angle and the right ascension of the ascending node, and is located at the position of the failed satellite.

[0075] In addition, the adjustment time of the backup satellite needs to be calculated based on two situations.

[0076] One situation is that after the drift of the operating time, the backup satellite is behind the failed satellite in the adjustment direction of the ascending node right ascension, that is, the ascending node right ascension needs to be adjusted to be greater than the difference change of the ascending node right ascension. At this time, it is necessary to wait for a while before starting the backup satellite's propulsion system. By waiting for a while, the backup satellite can operate on the drift orbit at a higher ascending node right ascension change rate during the waiting time (drift time), and adjust the ascending node right ascension between the backup satellite and the failed satellite.

[0077] One scenario is that after drifting during operation, the backup satellite is ahead of the failed satellite in the direction of the ascending node right ascension adjustment, meaning the ascending node right ascension needs to be adjusted to be less than the ascending node right ascension difference change. Since the backup satellite's orbital altitude is always lower than the failed satellite's during its ascent, the backup satellite's ascending node right ascension change rate is always greater than that of the failed satellite. After drifting during operation, the backup satellite is ahead of the failed satellite. To ensure that the backup satellite is at the failed satellite's position when it climbs to the target orbital altitude, the relative ascending node right ascension between the backup and failed satellites is determined to be in the satellite's orbital direction. The relative ascending node right ascension is calculated using the backup satellite as the starting point and the failed satellite as the end point, as follows: When the backup satellite is behind the failed satellite in the right ascension adjustment direction of the ascending node after the operating time drift, the adjustment time is calculated as follows: ; ; in, Greater than .

[0078] Where: , represents the Earth's gravitational constant; , represents the second-order spherical harmonic coefficient of the Earth's gravity field; , represents the equatorial radius of the Earth; , represents the target orbit semi-path; represents the semi-major axis of the target orbit in km; represents the target orbit eccentricity; Indicates the target orbit inclination in radians. represents the difference between the semi-major axis of the drift orbit and the target orbit; T wait_outplane To adjust the time; is the right ascension of the ascending node to be adjusted, is the change in the right ascension of the ascending node; The ignition timing at this time is calculated by the following formula: T fire_outplane =T 0_outplane +T wait_outplane ; Where: T fire_outplane is the ignition time, T 0_outplane is the current moment, T wait_outplane To adjust the time.

[0079] When the backup satellite is ahead of the failed satellite in the direction of satellite movement after the operating time drift, the adjustment time is calculated as follows: ; ; Where: , represents the Earth's gravitational constant; , represents the second-order spherical harmonic coefficient of the Earth's gravity field; , represents the equatorial radius of the Earth; , represents the target orbit semi-path; represents the semi-major axis of the target orbit in km; represents the target orbit eccentricity; Indicates the target orbit inclination in radians. represents the difference between the semi-major axis of the drift orbit and the target orbit; T wait_outplane To adjust the time; is the right ascension of the ascending node to be adjusted, is the change in the right ascension of the ascending node; The ignition timing at this time is calculated by the following formula: T fire_outplane =T 0_outplane +T wait_outplane ; Where: T fire_outplane is the ignition time, T 0_outplane is the current moment, T wait_outplane To adjust the time.

[0080] In summary, this method can synchronously adjust the phase angle and synchronously complete the adjustment of the ascending node right ascension during the process of the backup satellite climbing from the drift orbit to the target orbit, so that when the backup satellite climbs to the target orbit, the backup satellite is exactly at the position of the failed satellite. There is no need to adjust the backup satellite's climbing altitude, phase angle and ascending node right ascension separately, and the energy consumption is relatively low.

[0081] Example 3: like Figure 3 As shown, this embodiment provides a satellite deployment system, including a satellite deployment module 400, a satellite navigation module 100, a control module 200 and an ignition propulsion module 300. The satellite deployment module 400 obtains the deployment strategy of each backup satellite on the drift orbit and sends the deployment strategy of each backup satellite to the control module 200 and the satellite navigation module 100. The satellite navigation module 100 obtains data of the backup satellite and the failed satellite based on the deployment strategy of the backup satellite, determines the orbital parameters of the backup satellite in real time, calculates the orbital period of the backup satellite, and sends the data of the backup satellite and the failed satellite to the control module 200; the control system executes the above method according to the data transmitted by the satellite deployment module 400 and the control module 200, and the ignition propulsion module 300 obtains the ignition time sent by the control module 200, and drives the backup satellite to climb from the drift orbit to the target orbit.

[0082] Example 4: This embodiment provides a computer device including a memory and a processor. The memory stores a computer program, and the processor implements the steps of the satellite deployment method described above when executing the computer program.

[0083] Embodiment 5: This embodiment provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the satellite deployment method described above are implemented.

[0084] The above description is only a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with this technical field within the technical scope disclosed in the present invention should be covered by the scope of protection of the present invention.

Claims

1. A satellite deployment method, characterized in that: The following steps are involved: Based on the backup satellite deployment strategy, determine the adjustment type of each backup satellite on the drift orbit, which includes intra-orbital adjustment and inter-orbital adjustment. For backup satellites adjusted in the same orbital plane, the transfer time required for the backup satellite to climb from the drift orbit to the target orbit is calculated. Based on the transfer time required for the backup satellite to climb from the drift orbit to the target orbit, the relative phase angle of the backup satellite relative to the failed satellite after the backup satellite and the failed satellite have moved for the transfer time is obtained. Based on the relative phase angle, the drift time required for the backup satellite to complete the relative phase angle drift relative to the failed satellite is obtained. For backup satellites adjusted across orbital planes, the operating time of the backup satellite is calculated based on the transfer time and drift time of the backup satellite. The operating time is the sum of the transfer time and the drift time. The relative right ascension of the ascending node of the backup satellite relative to the failed satellite after the backup satellite and the failed satellite have operated for the operating time is calculated based on the operating time. The adjustment time for the backup satellite to complete the drift relative to the failed satellite relative right ascension of the ascending node is calculated based on the relative right ascension of the ascending node. Based on the drift time or the adjustment time, the ignition time of the backup satellite is set so that when the backup satellite climbs from the drift orbit to the target orbit, the backup satellite is at the position where the failed satellite is.

2. The satellite deployment method according to claim 1, wherein: The transfer time is calculated based on the continuous ignition duration supported by the maximum energy reserve of the backup satellite's propulsion system, and includes the following steps: Based on the satellite parameters of the backup satellite, the orbital parameters of the drift orbit, and the orbital parameters of the target orbit, the time required for the backup satellite's propulsion system to ignite and propel the backup satellite from the drift orbit to the target orbit is calculated; If the maximum energy reserve of the backup satellite's propulsion system supports a continuous ignition duration greater than the duration the backup satellite's propulsion system needs to be ignited for propulsion, the transfer time is equal to the duration the backup satellite's propulsion system needs to be ignited for propulsion; If the maximum energy reserve of the backup satellite's propulsion system only supports ignition and propulsion for a period of time in each orbital cycle and can be recharged after the energy is exhausted, then the number of circles that the backup satellite needs to orbit during the climb process is obtained by dividing the time the backup satellite's propulsion system needs to ignite and propulsion by the time the backup satellite ignites and propulsion in each orbital cycle. At this time, the transfer time is equal to the total time required for the backup satellite to orbit these number of circles.

3. The satellite deployment method according to claim 2, wherein: When the continuous ignition duration supported by the maximum energy reserve of the backup satellite's propulsion system is longer than the duration the backup satellite's propulsion system needs to ignite for propulsion, the transfer time is calculated by the following steps: Based on the orbital parameters of the drift orbit where the backup satellite is located and the orbital parameters of the target orbit, the height difference between the drift orbit and the target orbit is obtained; Based on the altitude difference, the velocity increment required for the backup satellite to climb from the drift orbit to the target orbit is calculated using the following formula: ； Where: Indicates the semi-major axis of the satellite orbit, in km; represents the target orbit eccentricity; , represents the Earth's gravitational constant; cosf is the true anomaly of the six elements of the orbit, represents the altitude difference between the drift orbit and the target orbit, represents the desired velocity increment; Based on the velocity increment and the backup satellite parameters, it is found that the backup satellite's propulsion system needs to ignite and propel for a period of time during the process of climbing from the drift orbit to the target orbit. , Calculated by the following formula: ； Where: F is the thrust of the backup satellite's propulsion system, m is the mass of the backup satellite; Based on the time it takes for the backup satellite's propulsion system to ignite, the transfer time is obtained: , For transfer time.

4. The satellite deployment method according to claim 2, wherein: When the maximum energy reserve of the backup satellite's propulsion system only supports ignition propulsion for a period of time in each orbital cycle and can be recharged after the energy is exhausted, the transfer time is calculated by the following steps: Based on the orbital parameters of the drift orbit where the backup satellite is located and the orbital parameters of the target orbit, the height difference between the drift orbit and the target orbit is obtained; Based on the altitude difference, the velocity increment required for the backup satellite to climb from the drift orbit to the target orbit is calculated using the following formula: ； Where: represents the semi-major axis of the target orbit in km; represents the target target orbit eccentricity; , represents the Earth's gravitational constant; cosf is the true anomaly of the six elements of the orbit, represents the altitude difference between the drift orbit and the target orbit, represents the desired velocity increment; Based on the velocity increment and the backup satellite parameters, it is found that the backup satellite's propulsion system needs to ignite and propel for a period of time during the process of climbing from the drift orbit to the target orbit. , calculated by the following formula: ； Where: F is the thrust of the satellite's propulsion system, m is the mass of the satellite; Based on the ignition propulsion duration per orbital cycle supported by the maximum energy reserve of the backup satellite's propulsion system, the number of circles the backup satellite needs to make in the process of climbing to the target orbit is calculated: ； Where: N is the number of circles, Ceil is the number of circles rounded up, The duration of ignition propulsion required to back up the satellite's propulsion system, T once The duration of ignition propulsion supported by the backup satellite's propulsion system in each orbital cycle; Based on the number of orbits of the backup satellite, the total time required for the backup satellite to orbit these number of orbits is obtained; Based on the total time, the transfer time of the backup satellite is obtained, and the transfer time is equal to the total time.

5. The satellite deployment method according to claim 1, wherein: The relative phase angle is calculated by the following steps: Based on the position of the backup satellite on the drift orbit and the failed satellite on the target orbit, the phase angle that needs to be adjusted between the backup satellite and the failed satellite is obtained; based on the transfer time, the change in the phase angle difference between the backup satellite and the failed satellite after the backup satellite and the failed satellite have moved for the transfer time is obtained; based on the change in the phase angle difference, the angle difference between the change in the phase angle difference and the phase angle that needs to be adjusted is obtained, and the angle difference is the relative phase angle; The relative right ascension of the ascending node is calculated by the following steps: Based on the positions of the drift orbit and the target orbit, the right ascension of the ascending node that needs to be adjusted between the backup satellite and the failed satellite is obtained. Based on the operation time, the change in the difference in the right ascension of the ascending node between the backup satellite and the failed satellite after the backup satellite and the failed satellite have operated for the operation time is obtained. Based on the change in the difference in the right ascension of the ascending node, the angular difference between the change in the difference in the right ascension of the ascending node and the right ascension of the ascending node that needs to be adjusted is obtained. The angular difference is the relative right ascension of the ascending node.

6. The satellite deployment method according to claim 5, characterized in that: When the backup satellite deployment strategy is to adjust the phase angle within the same orbital plane, and after the transfer time drift, the backup satellite is located behind the failed satellite in the satellite movement direction, the drift time is calculated as follows: ； ； Where: is the phase angle to be adjusted, is the phase angle difference change, , represents the Earth's gravitational constant; represents the semi-major axis of the target orbit, in km; represents the difference between the semi-major axis of the drift orbit and the target orbit; The ignition timing is calculated by the following formula: ； Where: Indicates the ignition time, Indicates the current moment, represents the drift time; If after the transfer time drift, the backup satellite is ahead of the failed satellite in the direction of satellite movement, the drift time is calculated as follows: ； ； Where: is the phase angle to be adjusted, is the phase angle difference change, , represents the Earth's gravitational constant; represents the semi-major axis of the target orbit, in km; represents the difference between the semi-major axis of the drift orbit and the target orbit; The ignition timing is calculated by the following formula: ； Where: Indicates the ignition time, Indicates the current moment, Indicates the drift time.

7. The satellite deployment method according to claim 6, characterized in that: When the backup satellite deployment strategy is to adjust the phase angle and right ascension of the ascending node across the orbital plane, and after the operating time drift, the orbit of the backup satellite is behind the orbit of the failed satellite in the direction of the ascending node drift, the adjustment time is calculated as follows: ； ； Where: , represents the Earth's gravitational constant; , represents the second-order spherical harmonic coefficient of the Earth's gravity field; , represents the equatorial radius of the Earth; , represents the target orbit semi-path; represents the semi-major axis of the target orbit in km; represents the target orbit eccentricity; Indicates the target orbit inclination in radians. represents the difference between the semi-major axis of the drift orbit and the target orbit; T wait_outplane To adjust the time; is the right ascension of the ascending node to be adjusted, is the change in the right ascension of the ascending node; The ignition timing is calculated by the following formula: ； Where: T fire_outplane is the ignition time, T 0_outplane is the current moment, T wait_outplane To adjust the time; If, after the operating time drift, the orbit of the backup satellite is behind the orbit of the failed satellite in the ascending node drift direction, the adjustment time is calculated as follows: ； ； Where: , represents the Earth's gravitational constant; , represents the second-order spherical harmonic coefficient of the Earth's gravity field; , represents the equatorial radius of the Earth; , represents the target orbit semi-path; represents the semi-major axis of the target orbit in km; represents the target orbit eccentricity; Indicates the target orbit inclination in radians. represents the difference between the semi-major axis of the drift orbit and the target orbit; T wait_outplane To adjust the time; is the right ascension of the ascending node to be adjusted, is the change in the right ascension of the ascending node; The ignition timing is calculated by the following formula: ； Where: T fire_outplane is the ignition time, T 0_outplane is the current moment, T wait_outplane To adjust the time.

8. A satellite deployment system, characterized in that: The system comprises a satellite deployment module, a satellite navigation module, a control module, and an ignition propulsion module. The satellite deployment module obtains deployment strategies for each backup satellite on a drift orbit and sends the deployment strategies for each backup satellite to the control module and the satellite navigation module. The satellite navigation module obtains data on backup satellites and failed satellites based on the deployment strategies of the backup satellites, determines the orbital parameters of the backup satellites in real time, calculates the orbital period of the backup satellites, and sends the data on the backup satellites and failed satellites to the control module. The control system executes the satellite deployment method according to any one of claims 1 to 7 based on the data transmitted by the satellite deployment module and the control module. The ignition propulsion module obtains the ignition time sent by the control module and drives the backup satellite to climb from the drift orbit to the target orbit.

9. A computer device, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program, and wherein the processor implements the steps of the satellite deployment method according to any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, characterized in that: A computer program is stored thereon, characterized in that when the computer program is executed by a processor, the steps of the satellite deployment method according to any one of claims 1 to 7 are implemented.

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