Inter-satellite laser link establishment method, device and communication system

Abstract

The application provides an intersatellite laser link establishment method, device and communication system, solves the intersatellite link establishment delay and regional restriction problem caused by dependence of a ground operation control system, and the method comprises the following steps: in response to identification information of a second satellite sent by a first satellite, sending link establishment parameters to the second satellite through the first satellite; in response to an acknowledgement instruction fed back by the second satellite through the first satellite, establishing a laser communication link with the second satellite; wherein the second satellite and a local satellite are in a service domain of the first satellite. The first satellite acts as a measurement and control hub and forwards link establishment requirements and parameters in real time. Therefore, autonomous link establishment is realized, the uncertainty domain is reduced by using high-precision real-time ephemeris, and the link establishment success rate and efficiency are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of satellite communication, in particular to an intersatellite laser link establishment method and device and a communication system. BACKGROUND

[0002] The existing intersatellite laser link establishment technology is highly dependent on the ground, and it needs the ground to provide / update high-precision ephemeris and set up link establishment parameters, and the telemetry backhaul also depends on the passing station. Limited by sparse ground station coverage, the ephemeris time limit is poor, the command injection and state acquisition delay is large, and the on-board autonomous on-demand link establishment, real-time switching and state monitoring cannot be realized, which restricts the autonomous operation and flexible networking capability of the constellation.

[0003] Therefore, there is an urgent need for a technical solution that can significantly reduce the dependence on ground operation and control systems, improve the autonomous and rapid intersatellite laser link establishment capability, and support on-demand access and real-time control, in order to break through the existing technical bottlenecks and meet the needs of efficient, flexible and autonomous operation of future large-scale satellite internet constellations. SUMMARY

[0004] The present application aims to provide an intersatellite laser link establishment method, device and communication system, which can break away from the geographical location restrictions of the ground operation and control system and realize full-time, full-area and autonomous intersatellite link establishment.

[0005] The first aspect of the present specification provides an intersatellite laser link establishment method, comprising:

[0006] In response to the identification information of the second satellite sent by the first satellite, the first satellite sends link establishment parameters to the second satellite;

[0007] In response to the confirmation instruction fed back by the second satellite through the first satellite, the second satellite and the second satellite construct a laser communication link;

[0008] Wherein, the second satellite and the local satellite are in the service domain of the first satellite.

[0009] In some embodiments of the present specification, it further comprises:

[0010] According to the spatial state, network state and connection demand of the local satellite, the first satellite initiates the intersatellite link establishment demand of the second satellite.

[0011] In some embodiments of the present specification, constructing a laser communication link with the second satellite comprises:

[0012] According to the confirmation instruction, the orbit data of the second satellite is obtained;

[0013] The vector position of the second satellite relative to the local satellite is calculated through the orbit data of the second satellite, the orbit data of the local satellite and the attitude of the local satellite.

[0014] combining scanning positioning the second satellite according to the vector position by scanning modes of at least two accuracies.

[0015] In some embodiments of the present disclosure, combining scanning positioning the second satellite according to the vector position by scanning modes of at least two accuracies comprises:

[0016] controlling a laser terminal of the local satellite to point a receiving optical axis of the laser terminal to a direction of the second satellite according to the vector position;

[0017] combining scanning a first area in the direction of the second satellite by scanning modes of at least two accuracies at a preset period to position the second satellite.

[0018] In some embodiments of the present disclosure, establishing the laser communication link with the second satellite comprises:

[0019] adjusting a pointing direction of the receiving optical axis of the local satellite to establish the laser communication link with the second satellite by a signal laser emitted by the second satellite.

[0020] In some embodiments of the present disclosure, adjusting the pointing direction of the receiving optical axis of the local satellite to establish the laser communication link with the second satellite by a signal laser emitted by the second satellite comprises:

[0021] determining a light source direction according to the signal laser captured by the laser terminal of the local satellite, and adjusting the receiving optical axis of the laser terminal of the local satellite to point to a laser terminal of the second satellite by the light source direction and an angle measurement result of the laser terminal of the local satellite.

[0022] introducing the signal laser into a communication receiving field of view of the local satellite, and controlling the laser terminal of the local satellite by a tracking adjustment strategy of a preset accuracy to stably maintain the signal laser in the communication receiving field of view.

[0023] In some embodiments of the present disclosure, the identification information comprises ephemeris, a satellite number and a terminal number; and the link establishment parameter comprises a scanning mode, a scanning line width, a scanning speed and a link establishment node.

[0024] The second aspect of the present disclosure provides an intersatellite laser link establishment method, comprising:

[0025] in response to the identification information and the link establishment parameter of the third satellite sent by the first satellite, sending a feedback confirmation instruction to the third satellite through the first satellite;

[0026] generating a staring parameter by the identification information and the link establishment parameter, and establishing the laser communication link with the third satellite according to the staring parameter;

[0027] The third satellite and the local satellite are in a service domain of the first satellite.

[0028] In some embodiments of the present disclosure, constructing a laser communication link with the third satellite according to the gaze parameter comprises:

[0029] Obtaining orbit data of the third satellite according to the gaze parameter;

[0030] Calculating a vector position of the third satellite relative to the local satellite through the orbit data of the third satellite, the orbit data of the local satellite and the local satellite attitude;

[0031] Scanning and positioning the third satellite according to the vector position, and constructing a laser communication link with the third satellite.

[0032] In some embodiments of the present disclosure, constructing a laser communication link with the third satellite according to the gaze parameter comprises:

[0033] Determining a light source direction according to a signal laser captured by a laser terminal of the local satellite, adjusting a receiving optical axis of the laser terminal of the local satellite to point to a laser terminal of the third satellite through the light source direction and an angle measurement result of the laser terminal of the local satellite, and controlling the laser terminal of the local satellite to superimpose a lead aiming angle on a transmitting optical axis.

[0034] In some embodiments of the present disclosure, the identification information comprises ephemeris, a satellite number and a terminal number; and the link construction parameter comprises a scanning mode, a scanning line width, a scanning speed and a link construction node.

[0035] The third aspect of the present disclosure provides an intersatellite laser link establishment method, comprising:

[0036] In response to an intersatellite link construction requirement sent by a third satellite, sending identification information of the third satellite to a second satellite, and feeding back identification information of the second satellite to the third satellite;

[0037] In response to a link construction parameter sent by the third satellite, sending the link construction parameter to the second satellite, and sending confirmation information fed back by the second satellite to the third satellite;

[0038] The second satellite and the third satellite are in a service domain of the local satellite.

[0039] In some embodiments of the present disclosure, responding to an intersatellite link construction requirement sent by a third satellite comprises:

[0040] Obtaining number information of the third satellite and the second satellite according to the intersatellite link construction requirement;

[0041] According to the numbering information, identification information of the third satellite and the second satellite in a current service domain is obtained in real time.

[0042] The fourth aspect of the present specification provides an intersatellite laser link establishment device, comprising:

[0043] The signal sending module is configured to send, in response to the identification information of the laser terminal of the second satellite sent by the first satellite, a link establishment parameter to the second satellite through the first satellite.

[0044] The control module is configured to, in response to a confirmation instruction fed back by the second satellite through the first satellite, construct a laser communication link with the second satellite.

[0045] The second satellite and the local satellite are in a service domain of the first satellite.

[0046] The fifth aspect of the present specification provides an intersatellite laser link establishment device, comprising:

[0047] The signal receiving module is configured to, in response to the identification information of the third satellite and the link establishment parameter sent by the first satellite, send a feedback confirmation instruction to the third satellite through the first satellite.

[0048] The control module is configured to generate a gaze parameter according to the identification information and the link establishment parameter, and construct a laser communication link with the third satellite according to the gaze parameter.

[0049] The third satellite and the local satellite are in a service domain of the first satellite.

[0050] The sixth aspect of the present application provides an intersatellite laser link establishment device, comprising:

[0051] The signal interaction module is configured to, in response to an intersatellite link establishment requirement sent by the third satellite, send the identification information of the third satellite to the second satellite and feed back the identification information of the second satellite to the third satellite, and in response to a link establishment parameter sent by the third satellite, send the link establishment parameter to the second satellite and send confirmation information fed back by the second satellite to the third satellite.

[0052] The second satellite and the third satellite are in a service domain of the local satellite.

[0053] The seventh aspect of the present application provides an intersatellite laser link communication system, comprising:

[0054] The third satellite comprises a first laser terminal, configured to generate a link establishment parameter and send the link establishment parameter to a second laser terminal of a second satellite via the first satellite when the first laser terminal receives identification information of the second laser terminal sent by the first satellite; in response to an acknowledgement instruction fed back by the second laser terminal via the first satellite, initiate open-loop pointing tracking to a region of the second laser terminal according to the acknowledgement instruction; and when a signal laser emitted by the second laser terminal is captured, establish a tracking state with the second laser terminal to build a laser communication link with the second laser terminal via the tracking state.

[0055] The second satellite comprises a second laser terminal, configured to feed back an acknowledgement instruction to the first laser terminal via the first satellite when the second laser terminal receives identification information and a link establishment parameter of the first laser terminal sent by the first satellite; generate a gaze parameter in response to the identification information and the link establishment parameter, and initiate open-loop pointing tracking to a region of the first laser terminal via the gaze parameter; and when a signal laser emitted by the first laser terminal is captured, establish a tracking state with the first laser terminal to build a laser communication link with the first laser terminal via the tracking state.

[0056] The first satellite is configured to, when receiving an inter-satellite link establishment requirement, send identification information of the first laser terminal to the second laser terminal, and feed back identification information of the second laser terminal to the first laser terminal; and receive a link establishment parameter sent by the first laser terminal, send the link establishment parameter to the second laser terminal, and send acknowledgement information fed back by the second laser terminal to the first laser terminal.

[0057] The third satellite and the second satellite are in a service domain of the first satellite.

[0058] The eighth aspect of the present application provides a computer readable storage medium, which stores a computer program. The computer program is executed by a processor to implement the method of the first aspect, the second aspect or the third aspect.

[0059] The ninth aspect of the present application provides a computer program product, comprising computer programs / instructions. The computer programs / instructions are executed by a processor to implement the steps of the method of the first aspect, the second aspect or the third aspect.

[0060] The tenth aspect of the present application provides a chip, comprising circuitry configured to perform the steps of the method of the first aspect, the second aspect or the third aspect.

[0061] The intersatellite laser link establishment method, device and communication system provided in the embodiments of the present specification can provide a technical basis for autonomous link establishment of intersatellite laser without human intervention. In addition, the ephemeris and other information can be sent to the two-end link establishment satellites in real time during the intersatellite link establishment process. The real-time ephemeris has a much higher accuracy than the orbit extrapolation ephemeris, which can reduce the uncertainty range of intersatellite link establishment, thereby increasing the success rate of intersatellite laser link establishment and shortening the link establishment time. BRIEF DESCRIPTION OF DRAWINGS

[0062] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments described in the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0063] Figure 1 The architecture schematic diagram of the intersatellite system provided by an embodiment of the present application;

[0064] Figure 2 The flowchart of the intersatellite laser link establishment method provided by an embodiment of the present application;

[0065] Figure 3 The laser terminal control flowchart provided by an embodiment of the present application;

[0066] Figure 4 The flowchart of the intersatellite laser link establishment method provided by an embodiment of the present application;

[0067] Figure 5 The laser terminal control flowchart provided by an embodiment of the present application;

[0068] Figure 6 The flowchart of the intersatellite laser link establishment method provided by an embodiment of the present application;

[0069] Figure 7 The message interaction flowchart provided by an embodiment of the present application;

[0070] Figure 8 The communication group framing flowchart provided by an embodiment of the present application;

[0071] Figure 9 The frame structure schematic diagram provided by an embodiment of the present application;

[0072] Figure 10 The structure schematic diagram of the electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0073] In order to make the technical solutions in the present application better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be described clearly and completely in the following with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work should fall within the scope of protection of the present application.

[0074] It should be noted that the terms "first", "second" and the like in the description and claims of the present application and the above drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or a sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, device, product or apparatus that includes a series of steps or units does not have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or apparatus.

[0075] The present specification provides method operation steps as described in the embodiments or flowcharts, but can include more or less operation steps based on routine or non-creative work. The order of steps listed in the embodiments is only one of the many execution orders of the steps, and does not represent the only execution order. In actual system or device product execution, the method order shown in the embodiments or drawings can be executed in sequence or in parallel.

[0076] It should be noted that the information involved in the present application (including but not limited to user terminal device information, user personal information, etc.) is all information and data authorized by the user or authorized by all parties, and the acquisition, transmission, storage, use and processing of related data comply with relevant national and regional laws, regulations and standards.

[0077] It should be noted that in the embodiments of the present specification, some software, components, models and other industry existing solutions may be mentioned, which should be considered as exemplary, and the purpose is only to illustrate the feasibility of the implementation of the technical solutions of the present application, but does not mean that the applicant has or will necessarily use the solution.

[0078] The laser terminal described in the embodiments of the present specification is a terminal device with satellite communication capability, which is installed on a satellite platform and is a device or subsystem specially used for implementing intersatellite laser communication function. Its core function is to use laser beam as information carrier to complete high-speed data transmission, signal acquisition, tracking and communication link maintenance with other satellites (counterpart satellites). The manufacturer, model, etc. of the present application are not specifically limited.

[0079] With the expansion of satellite network scale and the increase of demand for higher speed and larger amount of data transmission, a multi-layer stereoscopic constellation composed of high, medium and low orbits becomes an urgent demand. In the multi-layer stereoscopic constellation, the constellation system composed of medium-orbit satellites or high-orbit satellites can realize the whole-sky TT&C function, and the control of intersatellite laser link establishment by the TT&C system is conducive to the realization of spatial autonomous planning link establishment of intersatellite laser networking and real-time telemetry return of intersatellite link management control information.

[0080] Wherein, the multi-layer three-dimensional constellation refers to a comprehensive satellite network system composed of satellites running at different orbital altitudes. This embodiment refers to the combined architecture of medium earth orbit (MEO) satellite constellation and / or geostationary earth orbit (GEO) satellite constellation. MEO Constellation: generally refers to a group of satellites running at an altitude below geosynchronous orbit, such as 10000-20000 kilometers. GEO Constellation: generally refers to a group of satellites running in geosynchronous orbit (about 35786 kilometers altitude) or nearby orbits. Medium and high orbit satellites have wider coverage (single satellite coverage area is large) and longer subsatellite point residence time. The TT&C system refers to a system composed of satellites deployed in space orbits (mainly medium or high orbits) and their carried special TT&C loads. The main function of the system is to replace or supplement the traditional ground TT&C station to monitor the state, transmit instructions and return data of low-orbit satellites or other space targets, wherein the state monitoring includes: obtaining the position, velocity, attitude, key subsystem state (such as power supply, temperature) and other parameters of the target satellite (such as low-orbit satellite); the instruction transmission includes sending remote control instructions to the target satellite for controlling its action, configuring parameters or switching mode; the data return includes receiving the telemetry data sent back by the target satellite and forwarding (optionally, processing or relaying) it to the ground or other destinations. The way the medium or high orbit satellites in the TT&C system establish contact with the low-orbit satellites includes beam scanning: the TT&C antenna or laser terminal of the TT&C satellite actively adjusts the beam pointing, searches, captures and tracks a specific target satellite to establish a stable TT&C link. This method is usually used for point-to-point high-speed or high-precision services; and signal broadcasting: the TT&C satellite sends a signal containing public information (such as time reference, ephemeris update, broadcast instruction) to a larger airspace range (such as covering all or a type of low-orbit satellites within its field of view). The target satellite listens to the broadcast channel and receives the relevant information. This method is efficient and suitable for covering a large number of satellites or transmitting general information.

[0081] The present specification provides an inter-satellite laser link establishment method based on a TT&C system, which can realize space autonomous inter-satellite link establishment and telemetry information return without the restriction of ground operation and control system.

[0082] The system architecture for establishing inter-satellite laser link through TT&C is as shown in Figure 1

[0083] ​The TT&C constellation (medium-orbit or high-orbit constellation) establishes a TT&C service contact with the low-orbit satellite through beam scanning or signal broadcasting, and determines the position, speed, attitude and other parameter information of the low-orbit satellite, and real-time grasps the running state of the satellite; in the TT&C service, signaling interaction can be directly carried out based on the space-based link, and the state parameters of the satellite are remotely controlled and adjusted to ensure the normal operation of the satellite. At the same time, the TT&C link can also return the telemetry data of the low-orbit satellite to be controlled to the ground gateway station for data processing and analysis, and evaluate the performance and running state of the low-orbit satellite.

[0084] Please refer to Figure 2 The method for establishing an inter-satellite laser link is provided, and in Figure 2 The process and steps of how a low-orbit satellite establishes a laser communication link with a target low-orbit satellite by using a medium-orbit or high-orbit satellite are described, which is mainly applied to a low-orbit satellite, and specifically includes:

[0085] Step S201: In response to the identification information of the second satellite sent by the first satellite, the link establishment parameters are sent to the second satellite through the first satellite;

[0086] Step 202: In response to the confirmation instruction fed back by the second satellite through the first satellite, a laser communication link is established with the second satellite;

[0087] Wherein, the running orbit of the second satellite and the local satellite is lower than the running orbit of the first satellite, and the second satellite and the local satellite are in the service domain of the first satellite; for example, when the second satellite and the local satellite are low-orbit satellites, the first satellite is a medium-orbit satellite or a high-orbit satellite, and the positional relationship can be referred to Figure 1 As shown in the figure; in Figure 1 The medium-orbit or high-orbit constellation is the first satellite, the low-orbit constellation A star is the local satellite as the link establishment initiator, and the low-orbit constellation B star is the second satellite as the link establishment target, and A star and B star are in the service domain of the medium-orbit or high-orbit constellation.

[0088] In the above embodiment, the satellite initiating the link establishment is mainly taken as the execution subject, which generates the link establishment parameters and sends them to the laser terminal of the second satellite through the medium-orbit or high-orbit constellation when receiving the identification information of the laser terminal of the second satellite sent by the medium-orbit or high-orbit constellation; in response to the confirmation instruction fed back by the laser terminal of the second satellite through the medium-orbit or high-orbit constellation, the open-loop pointing tracking is initiated to the area of the laser terminal of the second satellite according to the confirmation instruction; when the signal laser emitted by the laser terminal of the second satellite is captured, the tracking state is established with the laser terminal of the second satellite to build a laser communication link with the laser terminal of the second satellite through the tracking state;

[0089] Wherein, the local satellite and the second satellite are in the service domain of the first satellite; the local satellite and the second satellite can be low-orbit satellites in the service domain of a medium-orbit satellite or a high-orbit satellite, and the first satellite is a corresponding medium-orbit satellite or high-orbit satellite, hereinafter referred to as a medium-high-orbit satellite. The identification information includes ephemeris, satellite number and terminal number; and the chain building parameters include scanning mode, scanning line width, scanning speed and chain building node.

[0090] The embodiments of the present specification can provide a technical basis for autonomous link establishment under inter-satellite laser non-human intervention; secondly, in the process of inter-satellite chain building, the geographical position restriction of the ground operation and control system is not relied on, and full-time, full-area and autonomous inter-satellite link establishment is realized. In the medium-high-orbit constellation, one satellite or multiple satellites participate in the above inter-satellite laser link establishment, that is, different satellites can be used to control low-orbit satellites to participate in chain building at different stages, or the same satellite can be used to participate in the whole chain building process.

[0091] In some embodiments of the present specification, it further comprises:

[0092] According to the spatial state, network state and connection demand of the local satellite, the inter-satellite chain building demand of the first satellite and the second satellite is initiated.

[0093] The embodiments of the present specification can provide an implementation process for avoiding the participation of the ground operation and control system in the process of inter-satellite chain building, which is not limited by the condition of ground operation and control system information such as ephemeris injection, and realizes inter-satellite laser autonomous chain building at any time and as needed.

[0094] Please refer to Figure 3 In some embodiments of the present specification, the laser communication link is constructed with the second satellite, comprising:

[0095] Step 301: obtaining the orbit data of the second satellite according to the confirmation instruction;

[0096] Step 302: calculating the vector position of the second satellite relative to the local satellite by the orbit data of the second satellite, the orbit data of the local satellite and the attitude of the local satellite;

[0097] Step 303: positioning the second satellite by scanning with at least two kinds of scanning mode combination according to the vector position.

[0098] In some embodiments of the present specification, positioning the second satellite by scanning with at least two kinds of scanning mode combination according to the vector position comprises: controlling the laser terminal of the local satellite to point the emission axis to the direction of the second satellite according to the vector position; and scanning the first area in the direction of the second satellite by at least two kinds of scanning mode combination at a preset period, so as to position the second satellite.

[0099] Wherein, the laser communication link with the second satellite is established by adjusting the pointing direction of the receiving optical axis of the local satellite according to the signal laser emitted by the second satellite.

[0100] Specifically, the laser communication link with the second satellite is established by adjusting the pointing direction of the receiving optical axis of the local satellite according to the signal laser emitted by the second satellite, which includes: determining the light source direction according to the signal laser captured by the laser terminal of the local satellite, adjusting the receiving optical axis of the laser terminal of the local satellite to point to the laser terminal of the second satellite according to the light source direction and the angle measurement result of the laser terminal of the local satellite; introducing the signal laser into the communication receiving field of view of the local satellite, and controlling the laser terminal of the local satellite by a preset precision tracking adjustment strategy, so that the signal laser is stably maintained in the communication receiving field of view.

[0101] In this embodiment, the local satellite receives the "confirmation instruction" sent by the measurement and control system (for example, a medium earth orbit MEO measurement and control satellite) through the measurement and control link. The "confirmation instruction" contains the identifier (for example, satellite ID or orbit number) of the second satellite designated by this time chain building task. The on-board computer or laser terminal controller of the local satellite parses the instruction and identifies the second satellite identifier; then, the local satellite accesses the ephemeris database stored on the satellite according to the identified second satellite identifier. The ephemeris database stores the latest orbit data of other satellites (including the second satellite) in the constellation, which comes from the periodic update of the measurement and control system (for example, the MEO satellite distributes the constellation ephemeris to the LEO satellite through broadcast or point-to-point link), ensuring the relative timeliness and high accuracy of the data; the orbit data in the ephemeris database usually includes orbit elements (such as Kepler elements) or state vectors (position vector, velocity vector) describing the spatial position and velocity of the satellite, as well as the effective timestamp.

[0102] After determining the above orbit data, the relative vector position can be calculated, in which the on-board computer (or laser terminal dedicated processor) of the local satellite simultaneously obtains the current orbit data (also from the local ephemeris stored on the satellite and updated by the measurement and control system) and the current attitude data (provided by the attitude determination system on the satellite, such as star sensor, gyro combination, etc.) of the local satellite. Using the principles of spatial geometry and orbit dynamics, the processor performs the following calculations:

[0103] 1. Based on the orbit data of the local satellite and the orbit data of the second satellite, the position vector of the second satellite relative to the earth, the position vector of the local satellite relative to the earth, and the direction (azimuth) and distance (size) of the second satellite relative to the local satellite in space are calculated in the same reference coordinate system (such as the earth-centered inertial coordinate system ECI or the earth-centered fixed coordinate system ECEF).

[0104] 2. With the current attitude data of the local satellite (mainly the rotation matrix or quaternion of the body coordinate system relative to the reference coordinate system), the relative position vector of the second satellite relative to the local satellite is converted into the body coordinate system of the local satellite. The converted vector directly indicates the direction of the second satellite relative to the body of the local satellite, usually expressed as the pitch angle and azimuth angle.

[0105] It should be noted that in other embodiments, the vector position can also be obtained by other methods, which will not be described here.

[0106] After determining the vector position, open-loop pointing tracking can be controlled, for example: after the laser terminal controller receives the vector position information of the second satellite relative to the body coordinate system of the local satellite calculated in step 302, the controller drives the precision pointing mechanism (such as the optical axis, two-axis gimbal, fast steering mirror FSM or multiple combinations) of the laser terminal, and according to the calculated vector direction (or pitch / azimuth angle), the transmitting optical axis (or transmitting / receiving common optical axis) of the laser communication terminal is pointed to the direction of the airspace where the second satellite is predicted to be located. This pointing process is open-loop, meaning it is based only on prior calculation information (orbit and attitude), and has not yet used the light signal reflected or emitted by the second satellite for closed-loop feedback control; after completing the coarse pointing of the optical axis, the laser terminal starts its open-loop pointing tracking function. This usually means that the laser may start to emit low-power beacon light (or probe beam). The optical system and detector of the receiving end are ready to capture the light signal (such as synchronization beacon light or probe echo) that may return from the direction of the second satellite. The pointing mechanism remains in a small range near the calculated pointing position, i.e. the first area (initial uncertainty domain), laying the foundation for subsequent accurate capture (scan-stare closed-loop process). At this time, the system is in a "waiting" or "preparing to capture" state.

[0107] During the scanning of the pointing mechanism to the pointing position, different precision scanning modes can be used alternately to achieve full coverage of the area, i.e. using "coarse-fine composite scanning"; the specific implementation of this method can refer to the coarse-fine composite scanning method in the existing inter-satellite laser communication system, which will not be described here.

[0108] As an embodiment of the present specification, before establishing the tracking state with the target laser terminal, it is necessary to determine that the aforementioned execution condition is completed, that is, the laser terminal of the local satellite has completed the open-loop pointing, its emission optical axis has covered the predicted area of the second satellite, and the beacon laser (or probe light beam) is emitted; after the laser terminal of the second satellite detects the signal, the signal laser (including the beacon or communication light) is emitted in the direction of the local satellite. On this basis, establishing the tracking state with the target laser terminal includes two parts of signal detection and direction settlement and attitude fusion and closed-loop execution. In this process, signal detection and direction settlement includes: the laser terminal of the local satellite captures the signal laser emitted by the second satellite through an optical receiving system (such as a focal plane array detector or a four-quadrant detector); the detector generates spot position raw data and transmits it to the terminal controller; the controller calculates the incident angle of the signal laser based on the coordinate position of the spot on the detector and the optical system parameters (pre-calibrated focal length, distortion parameters, etc.), and determines the light source direction (i.e. the line-of-sight direction of the second satellite relative to the local satellite terminal). Attitude fusion and closed-loop execution includes: synchronously acquiring real-time attitude data of the local satellite (from attitude determination systems such as star sensors and gyroscopes); converting the light source direction from the terminal coordinate system to the satellite body coordinate system, and comparing it with the expected target direction in the open-loop pointing stage to generate a pointing deviation; through a closed-loop feedback control algorithm (such as PID control, optimal tracking filter), a precise pointing mechanism (gimbal / FSM) is driven to dynamically adjust the receiving optical axis, so that the deviation tends to zero, and the receiving optical axis is stably pointed to the second satellite terminal.

[0109] On the basis of the execution results of the foregoing steps, the communication field of view introduction and high-precision tracking maintenance can be performed, which mainly includes two parts of field of view alignment and precise tracking maintenance. The field of view alignment part includes: after the receiving optical axis locks the target, the controller adjusts the internal optical components of the terminal (such as adjustable collimators and microlens arrays) to accurately couple the signal laser to the communication receiving field of view (i.e. the effective photosensitive area of the communication detector); the precise tracking maintenance part includes: enabling a preset high-precision tracking adjustment strategy to continuously monitor the intensity distribution of the signal laser, the spot centroid offset, or the signal-to-noise ratio of the communication signal; according to the monitoring indicators, the pointing mechanism is dynamically fine-tuned so that the signal laser stably resides in the central region of the communication field of view, meeting the optical alignment requirements for establishing the communication link; at the same time, a forward correction mechanism is started: using orbit extrapolation data and a relative motion model to predict the motion trend of the second satellite, pre-compensate the pointing angle, and suppress the dynamic tracking error.

[0110] The processing mode of superimposing the leading aiming angle can refer to the implementation process of the leading aiming compensation of the emission optical axis, and specifically, relative motion prediction can be performed first, that is, the signal propagation delay and the displacement increment of the second satellite during link establishment are calculated based on the inter-satellite relative orbit model and the real-time measured relative motion state; then the displacement increment is converted into the leading aiming angle, and the leading aiming angle is superimposed on the current pointing angle of the emission optical axis to drive the pointing mechanism of the emission end to align with the future position of the second satellite, thereby improving the inter-satellite laser communication efficiency.

[0111] In the above embodiment, the initiator is a local satellite, the first satellite, that is, a medium-high orbit satellite, is used for relay transmission, and the target satellite for receiving matching is a second satellite.

[0112] Please refer to Figure 4 The second aspect of the present specification provides an inter-satellite laser link establishment method, comprising:

[0113] Step 401: In response to the identification information and the link establishment parameters of the third satellite sent by the first satellite, a feedback confirmation instruction is sent to the third satellite through the first satellite;

[0114] Step 402: Generate a gaze parameter through the identification information and the link establishment parameters, and establish a laser communication link with the third satellite according to the gaze parameter;

[0115] Wherein, the third satellite and the local satellite are in the service domain of the first satellite.

[0116] In the above embodiment, the satellite receiving the link establishment is mainly used as the execution subject. When the identification information and the link establishment parameters of the laser terminal of the third satellite sent by the medium-high orbit constellation are received, the medium-high orbit constellation feeds back a confirmation instruction to the laser terminal of the third satellite; in response to the identification information and the link establishment parameters, a gaze parameter is generated, and an open-loop pointing tracking is initiated to the laser terminal area of the third satellite through the gaze parameter; when the signal laser emitted by the laser terminal of the third satellite is captured, a tracking state is established with the laser terminal of the third satellite to build a laser communication link with the laser terminal of the third satellite through the tracking state; wherein, the local satellite and the third satellite can be low-orbit satellites in the service domain of a medium-orbit satellite or a high-orbit satellite, and the first satellite is a corresponding medium-orbit satellite or a high-orbit satellite, hereinafter referred to as a medium-high orbit satellite. The identification information includes ephemeris, satellite number and terminal number; the link establishment parameters include scanning mode, scanning line width, scanning speed and link establishment node.

[0117] As an embodiment of the present specification, the above-mentioned inter-satellite laser link establishment method is mainly applied to low-orbit satellites with passive receiving link establishment requirements. When receiving relevant data information provided by the third satellite through the medium-high orbit constellation, the corresponding feedback confirmation instruction is given, and the subsequent link establishment operation is performed. The entire link establishment process does not depend on the geographical location restriction of the ground operation and control system, and realizes full-time, full-area and autonomous inter-satellite link establishment. In the above-mentioned inter-satellite laser link establishment, one satellite or multiple satellites in the medium-high orbit constellation participate in the establishment, that is, different satellites can be used to control the low-orbit satellite to participate in the establishment at different stages, or the same satellite can be used to participate in the entire establishment process.

[0118] Please refer to Figure 5 In some embodiments of the present specification, establishing a laser communication link with the third satellite according to the gaze parameter includes:

[0119] Step 501: obtaining the orbit data of the third satellite according to the gaze parameter;

[0120] Step 502: obtaining the vector position of the third satellite relative to the local satellite through the orbit data of the third satellite, the orbit data of the local satellite and the local satellite attitude calculation;

[0121] Step 503: scanning and positioning the third satellite according to the vector position, and establishing a laser communication link with the third satellite.

[0122] In the present embodiment, the above-mentioned gaze parameter can be extracted from the link establishment instruction issued by the measurement and control system (MEO satellite), or generated in real time by the local satellite according to the target identification information. In the process of calculating the orbit data of the third satellite, the gaze parameter package can be obtained, or the latest orbit data (updated periodically by the measurement and control system) can be obtained by querying the on-board ephemeris database according to the identification information of the third satellite. Then, the relative position vector in the earth-centered inertial system is calculated according to the real-time orbit data and attitude quaternion of the local satellite, and the relative position vector is converted to the satellite body coordinate system, and the pointing vector in the local system is calculated through the satellite body coordinate system.

[0123] After determining the vector position, the precise pointing mechanism (such as a two-axis gimbal) can be driven to adjust the emission optical axis to the corresponding direction, and the gaze is maintained in the second area (i.e. the uncertain domain) centered on the direction (without active scanning), and the target signal is waited to be captured. Further, the coarse tracking mode can also be started at the same time in this process, that is, the detector monitors the light signal in real time; if it is not captured within a certain time, it is automatically switched to the spiral scanning mode.

[0124] In some embodiments of the present specification, establishing a laser communication link with the third satellite according to the gaze parameter includes:

[0125] According to the signal laser captured by the local satellite laser terminal, the light source direction is determined, the receiving optical axis of the local satellite laser terminal is adjusted through the light source direction and the angle measurement result of the local satellite laser terminal, and the transmitting optical axis of the local satellite laser terminal is controlled to superimpose a lead aiming angle. The identification information includes ephemeris, satellite number and terminal number. The chain building parameters include scanning mode, scanning line width, scanning speed and chain building node.

[0126] In some embodiments of the present specification, the described signal laser is emitted by a third satellite laser terminal and is a laser for being captured and identified by a local satellite. The signal laser is not limited in wavelength, power and modulation mode. The light source direction is the angle of incidence of the signal laser in the terminal body coordinate system when the signal laser reaches the optical system of the local satellite. The light source direction is obtained by optical measurement. The angle measurement result is the real-time angle feedback value (such as gimbal encoder reading, FSM deflection voltage conversion angle) of the pointing mechanism of the local satellite laser terminal. The angle measurement result is the physical angle of the terminal itself mechanical part. The receiving optical axis is the reference axis in the optical system of the local satellite laser terminal for receiving the signal laser, which coincides with the center of the photosensitive surface of the detector. The transmitting optical axis and the receiving optical axis can be coaxial or separated. The present specification does not limit this. The lead aiming angle is a dynamic angle offset that is superimposed on the transmitting optical axis pointing angle to compensate for the signal propagation delay caused by the relative motion between satellites. The lead aiming angle is generated based on the relative motion prediction. The superimposition of the lead aiming angle and the transmitting optical axis is a control operation that adds the real-time angle compensation amount to the current transmitting optical axis pointing angle. The superimposition method can be realized by hardware or software.

[0127] In the above embodiments, the establishment of the tracking state can be divided into three parts, i.e. light source direction determination, receiving optical axis closed-loop adjustment and transmitting optical axis lead compensation. In the light source direction determination part, the optical receiving system (such as a lens group and a focal plane detector) of the local satellite laser terminal captures the signal laser emitted by the third satellite and forms a light spot on the detector. Then, the light source direction angle is calculated according to the light spot center coordinates and the pre-calibrated optical internal parameter matrix. In the receiving optical axis closed-loop adjustment part, the angle measurement result is obtained synchronously, and the receiving optical axis correction instruction is generated combined with the light source direction. In the transmitting optical axis lead compensation part, the light signal propagation delay is calculated based on the real-time measured inter-satellite relative velocity and distance, the lead aiming angle is generated using the light signal propagation delay, and the compensation amount is superimposed on the current transmitting optical axis pointing angle through the determined lead aiming angle.

[0128] Please refer to Figure 6 The third aspect of the present specification provides an inter-satellite laser link establishment method applied to a medium-orbit satellite or a high-orbit satellite in a medium-orbit constellation or a high-orbit constellation, which includes the following steps.

[0129] Step 601: in response to the inter-satellite link establishment demand sent by the third satellite, sending the identification information of the third satellite to the second satellite, and feeding back the identification information of the second satellite to the third satellite;

[0130] Step 602: in response to the inter-satellite link establishment parameter sent by the third satellite, sending the inter-satellite link establishment parameter to the second satellite, and sending the confirmation information fed back by the second satellite to the third satellite;

[0131] Wherein, the second satellite and the third satellite are in the service domain of the local satellite.

[0132] In the above embodiment, the medium-high orbit satellite as the information conductor is mainly taken as the execution subject, which sends the identification information of the first laser terminal to the second laser terminal in response to the inter-satellite link establishment demand sent by the first laser terminal, and feeds back the identification information of the second laser terminal to the first laser terminal;

[0133] Receiving the inter-satellite link establishment parameter sent by the first laser terminal, sending the inter-satellite link establishment parameter to the second laser terminal, and sending the confirmation information fed back by the second laser terminal to the first laser terminal;

[0134] Wherein, the first laser terminal is arranged on the third satellite, and the second laser terminal is arranged on the second satellite; the third satellite and the second satellite are in the same service domain in the medium-high orbit constellation.

[0135] In this embodiment, the medium-high orbit satellite in the medium-high orbit constellation mainly performs the inter-satellite laser link establishment, which can carry out the inter-satellite laser link establishment under the condition of measurement and control according to the above process when the low-orbit satellite has the inter-satellite laser link establishment demand. The high-orbit / medium-orbit relay satellite network sends the establishment message protocol data unit (A_PDU) to the target low-orbit satellite, including but not limited to: initiating the link establishment preparation to the initiating end, initiating the link establishment preparation to the passive end, sending the ephemeris to the initiating end, sending the scanning mode to the passive end, sending the scanning speed to the passive end, etc. The specific implementation logic of each step will be described one by one in the subsequent embodiments, which will not be described here.

[0136] In some embodiments of the present specification, in response to the inter-satellite link establishment demand sent by the third satellite, the following steps are included:

[0137] According to the inter-satellite link establishment demand, the number information of the third satellite and the second satellite is obtained;

[0138] According to the number information, the identification information of the third satellite and the second satellite in the current service domain is obtained in real time.

[0139] Through the manner of the embodiments of the present specification, any medium orbit satellite or high orbit satellite in the medium-high orbit constellation can obtain relevant information of the corresponding low orbit satellite through the measurement and control system when receiving the inter-satellite link establishment requirement, and respectively feed back to the two low orbit satellites requiring link establishment, thereby avoiding the limitation of the ground operation and control system.

[0140] Through the manner of the embodiments of the present specification, the message interaction flow in the inter-satellite laser link establishment method process can refer to Figure 7 , which specifically includes:

[0141] The medium orbit satellite or high orbit satellite acting as a relay satellite in the medium-high orbit constellation initiates link establishment preparation through the confirmation instruction ACK to the low orbit satellite A star as a demand initiation end and the low orbit satellite B star as a passive end, then feeds back the ephemeris and other information of the satellite B star to the satellite A star through the confirmation message ACK, and provides the link establishment parameters (scanning mode and scanning speed) provided by the satellite A star to the passive end B star through the confirmation instruction ACK, thereby starting the link establishment process of the initiation end satellite A star and the passive end satellite B star; after successfully establishing the link through the link establishment process described in the first aspect and the second aspect of the foregoing description, the satellite B star feeds back the handshake success signal to the satellite A star, and then the satellite A reports the link establishment success information to the relay satellite and feeds back the handshake success signal to the satellite B star, notifying the satellite B to report the link establishment success information to the relay satellite. It is worth noting that this interaction flow is one embodiment provided by the present specification, and the relevant technical personnel in the field can adjust the relevant interaction timing according to actual needs, which is not limited herein.

[0142] The space link layer protocol in the interaction process of the medium orbit satellite or high orbit satellite acting as a relay satellite can refer to the Advanced Orbiting System (AOS) protocol in the CCSDS standard system. It is composed of two sub-layers: Virtual Channel Link Control (VCLC) sub-layer and Virtual Channel Access (VCA) sub-layer, which are located above the physical channel layer. The AOS communication framing process is as shown in Figure 8 ; in the frame format, the transmission remote control data is located in the variable length application data, including data name and data parameters and other contents.

[0143] The physical channel transmission refers to CCSDS, adopts the Channel Access Date Unit (CADU) data structure based on AOS, which can be used for forward link and reverse link. After the AOS-VCA transmission frame adds a synchronization header, LDPC / Turbo or other encoding, CAUD is formed, and the frame structure is as shown in Figure 9 .

[0144] Since the data structures of communication frames and channel access data units are standard data, they will not be described in detail here.

[0145] The fourth aspect of this specification provides an inter-satellite laser link establishment device for use on low-Earth orbit satellites, including:

[0146] The signal transmission module is used to respond to the identification information of the second satellite sent by the first satellite and send the link establishment parameters to the second satellite through the first satellite;

[0147] The control module is used to respond to the confirmation command fed back by the second satellite through the first satellite, use a combination of scanning methods with at least two levels of precision to scan and locate the second satellite, and establish a laser communication link with the second satellite;

[0148] The second satellite and the local satellite are located within the service domain of the first satellite.

[0149] The descriptions and functions of the above modules can be found in [reference]. Figure 2 The content regarding the inter-satellite laser link establishment method is not elaborated here.

[0150] The fifth aspect of this specification provides an inter-satellite laser link establishment device for use on low-Earth orbit satellites, including:

[0151] The signal receiving module is used to respond to the identification information and link establishment parameters of the third satellite sent by the first satellite, and to send the feedback confirmation command to the third satellite through the first satellite;

[0152] The control module is used to generate staring parameters through the identification information and the link establishment parameters, and to establish a laser communication link with the third satellite based on the staring parameters;

[0153] The third satellite and the local satellite are located within the service domain of the first satellite.

[0154] The descriptions and functions of the above modules can be found in [reference]. Figure 4 The content regarding the inter-satellite laser link establishment method is not elaborated here.

[0155] The sixth aspect of this application provides an inter-satellite laser link establishment device, applicable to medium-orbit or high-orbit satellites in a medium-to-high orbit constellation, comprising:

[0156] The signal interaction module is used to send the identification information of the third satellite to the second satellite and send back the identification information of the second satellite to the third satellite when responding to the inter-satellite link establishment request sent by the third satellite; and to send the link establishment parameters to the second satellite in response to the link establishment parameters sent by the third satellite; and to send the confirmation information fed back by the second satellite to the third satellite.

[0157] The second satellite and the third satellite are in a service domain of the local satellite.

[0158] The description and functions of the above modules can be understood with reference to the content of the inter-satellite laser link establishment method in the Figure 6 The description and functions of the above modules can be understood with reference to the content of the inter-satellite laser link establishment method in the

[0159] The seventh aspect of the present application provides an inter-satellite laser link communication system, comprising:

[0160] The third satellite comprises a first laser terminal, configured to generate a link establishment parameter and send it to the second laser terminal through the first satellite when the first laser terminal receives the identification information of the second laser terminal of the second satellite sent by the first satellite; in response to the confirmation instruction fed back by the second laser terminal through the first satellite, initiate open-loop pointing tracking to the second laser terminal area according to the confirmation instruction; when the signal laser emitted by the second laser terminal is captured, establish a tracking state with the second laser terminal to build a laser communication link with the second laser terminal through the tracking state;

[0161] The second satellite comprises a second laser terminal, configured to feed back a confirmation instruction to the first laser terminal through the first satellite when the second laser terminal receives the identification information and the link establishment parameter of the first laser terminal sent by the first satellite; generate a staring parameter in response to the identification information and the link establishment parameter, and initiate open-loop pointing tracking to the first laser terminal area through the staring parameter; when the signal laser emitted by the first laser terminal is captured, establish a tracking state with the first laser terminal to build a laser communication link with the first laser terminal through the tracking state;

[0162] The first satellite is configured to, when receiving an inter-satellite link establishment requirement, send the identification information of the first laser terminal to the second laser terminal, and feed back the identification information of the second laser terminal to the first laser terminal; and receive the link establishment parameter sent by the first laser terminal, send the link establishment parameter to the second laser terminal, and send the confirmation information fed back by the second laser terminal to the first laser terminal;

[0163] The third satellite and the second satellite are in the service domain of the first satellite.

[0164] In the above embodiment, the inter-satellite laser link communication system can use the scanning-staring capture strategy to establish the inter-satellite laser link during the establishment of the inter-satellite laser link. For the convenience of description, the laser terminal can be divided into an active end A and a passive end B. The active end is in the active scanning mode in the capture stage, and the passive end is in the passive staring mode in the capture stage (the laser terminal can instruct to set the active end and the passive end). The overall link establishment scheme is that the active end covers the uncertain area by scanning with the signal light, the passive end detects the signal light, adjusts the pointing to aim at the active end to achieve bidirectional capture, and enters the normal communication state after stable tracking. The specific link establishment process includes demand initiation, mutual transmission of ephemeris, parameter determination, open-loop pointing, active end scanning, passive end capture, active end capture, stable tracking, and stable communication. The specific content can include the following:

[0165] 1. Demand initiation: the inter-satellite laser link establishment demand based on the measurement and control can be directly and autonomously initiated by the satellite platform information system. The satellite platform information system initiates the laser terminal inter-satellite link establishment demand to the measurement and control system according to the spatial state, network state, and connection demand of the satellite platform, and obtains the response of the measurement and control system.

[0166] 2. Mutual transmission of ephemeris: the measurement and control system sends the ephemeris, satellite number, and terminal number of the laser terminal A to the laser terminal B, and feeds back the ephemeris, satellite number, and terminal number of the laser terminal B to the laser terminal B.

[0167] 3. Parameter determination: the laser terminal A sends the scanning mode, scanning line width, scanning speed, link establishment key node, and other agreed parameters to the laser terminal B through the measurement and control system, and obtains the feedback confirmation of the laser terminal B.

[0168] 4. Open-loop pointing: the laser communication terminals of the A end and the B end calculate the vector of the opposite star to be linked in the coordinate system of the laser communication terminal according to the orbital data of the opposite star, the orbital data of the star, and the attitude of the star, calculate the pointing of the terminal according to the vector, control the two-dimensional turntable to point the optical axis of the terminal to the opposite star in real time, and realize the real-time open-loop pointing tracking of the opposite star.

[0169] 5. Active end scanning: the active end controls the emitted light to scan in the set uncertain area according to the unified agreed time and scanning strategy, and realizes the full coverage of the uncertain area by using the coarse-fine composite scanning mode.

[0170] 6. Passive end capture: the passive end laser communication terminal capture tracking detector receives the signal light emitted by the active end, measures the direction of the received signal light, adjusts the receiving optical axis of the passive end to point to the active end according to the measurement result of the direction angle of the received signal light, and superimposes the lead aiming angle on the emitted optical axis at this time. At this time, the emitted signal light of the passive end should cover the active end.

[0171] 7. Active end capture: the active end laser communication terminal captures the signal light transmitted by the passive end via the acquisition tracking probe, stops scanning, measures the direction of the received signal light, and adjusts the direction of the active end receiving optical axis to the passive end according to the measurement result of the direction angle of the received signal light.

[0172] 8. Stable tracking: the active end and the passive end both introduce the received light spot into the communication receiving field according to the direction angle of the received light output by the acquisition tracking probe, complete the switching from the acquisition state to the tracking state, and open the fine tracking function to stably maintain the received light spot in the respective communication receiving field.

[0173] 9. Stable communication: in the stable tracking state, one of the active end and the passive end opens the signal modulation, loads the information to be transmitted onto the signal light, and sends it to the other party, and the other party demodulates the received signal light and recovers the information. In the case of stable maintenance of the link, bidirectional real-time high-speed data transmission is realized.

[0174] The intersatellite laser link establishment method, device and communication system in the embodiments of the present specification can provide a technical basis for autonomous link establishment of intersatellite laser without human intervention. In addition, in the process of intersatellite link establishment, ephemeris and other information can be transmitted to the two-end link establishment satellites in real time. The real-time ephemeris has a much higher accuracy than the orbit extrapolation ephemeris, which can reduce the uncertainty range of intersatellite link establishment, thereby increasing the success rate of intersatellite laser link establishment and shortening the link establishment time.

[0175] The present application also provides an electronic device, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the above method when executing the computer program.

[0176] The present application also provides a computer readable storage medium, which stores a computer program for executing the above method.

[0177] The present application also provides a computer program product, comprising computer programs / instructions, which are executed by a processor to implement the steps of the above method.

[0178] An embodiment of the present application also provides an electronic device, such as Figure 10As shown, disposed on a satellite, the electronic device 1001 can include one or more processors 1002, such as one or more central processing units (CPUs), each of which can implement one or more hardware threads. The electronic device 1001 can also include any memory 1003 for storing any kind of information, such as code, settings, data, etc. Without limitation, for example, the memory 1003 can include any one or combination of: any type of RAM, any type of ROM, a flash memory device, a hard disk, an optical disk, etc. More generally, any memory can use any technology for storing information. Further, any memory can provide volatile or non-volatile retention of information. Further, any memory can represent a fixed or removable component of the electronic device 1001. In one case, the electronic device 1001 can perform any operation of the associated instructions when executed by the processor 1002 stored in any memory or combination of memories. The electronic device 1001 also includes one or more drive mechanisms 1004, such as a hard disk drive mechanism, an optical disk drive mechanism, etc., for interacting with any memory.

[0179] The electronic device 1001 can also include one or more network interfaces 1005 for exchanging data with other devices via one or more communication links 1006. One or more communication buses 1007 couple the above-described components together.

[0180] The communication links 1006 can be implemented in any manner, such as through a local area network, a wide area network (e.g., the Internet), a point-to-point connection, etc., or any combination thereof. The communication links 1006 can include any combination of hardwired links, wireless links, routers, gateway functionality, name servers, etc., governed by any protocol or combination of protocols.

[0181] The embodiments of the present application further provide a computer readable storage medium, having stored thereon a computer program, which, when executed by a processor, performs the steps of the above method.

[0182] The embodiments of the present application further provide a computer readable instruction, wherein when a processor executes the instruction, the program therein causes the processor to execute the method of any of the preceding embodiments.

[0183] It should be understood that the size of the sequence number of each process described above in various embodiments of the present application does not mean the order of execution, and the execution order of each process should be determined by its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0184] It should also be understood that, in the embodiments of the present application, the term "and / or" is merely an association relationship of the associated objects, and indicates that there can be three relationships. For example, A and / or B can represent three cases of A existing alone, A and B existing together, and B existing alone. In addition, the character " / " in the present application generally indicates that the front and rear associated objects are in an "or" relationship.

[0185] Those skilled in the art can clearly understand that the units and algorithm steps of each example described in combination with the embodiments disclosed in the present application can be realized by electronic hardware, computer software or a combination of both. In order to clearly illustrate the interchangeability of hardware and software, the components and steps of each example have been described in the above description in general terms. Whether the functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. A person skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0186] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described system, device and unit can refer to the corresponding processes in the foregoing method embodiments, which will not be described here.

[0187] In several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of the units is only a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some interfaces, devices or units, and can also be electrical, mechanical or other forms of connection.

[0188] The units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, that is, they can be located in one place, or can be distributed on a plurality of network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiments of the present application.

[0189] In addition, each functional unit in each embodiment of the present application can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or software functional unit.

[0190] The integrated unit, if implemented in the form of a software function unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or say the part of the prior art that contributes to the present application, or the whole or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, including a plurality of instructions for causing an electronic device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0191] The principles and implementation manners of the present application are described in the specific embodiments in the present application. The above embodiment description is only used to help understand the method and core idea of the present application; meanwhile, for those skilled in the art, according to the idea of the present application, the specific implementation manner and application range will be changed, and the above description should not be understood as a limitation of the present application.

Claims

1. A method for establishing an inter-satellite laser link, applied to a local satellite, characterized in that, include: The first laser terminal of the local satellite receives the identification information of the second laser terminal of the second satellite sent by the first satellite, and sends the link establishment parameters to the second satellite through the first satellite; In response to the confirmation command received by the first laser terminal from the second satellite via the first satellite, a laser communication link is established with the second satellite; The second satellite and the local satellite are located within the service domain of the first satellite; Establishing a laser communication link with the second satellite includes: The laser signal emitted by the second satellite is used to adjust the direction of the optical axis received by the local satellite and establish a laser communication link with the second satellite. The process of adjusting the direction of the local satellite's receiving optical axis using a laser signal emitted by the second satellite and establishing a laser communication link with the second satellite includes: The direction of the light source is determined based on the signal laser captured by the first laser terminal, and the receiving optical axis of the first laser terminal is adjusted to point towards the laser terminal of the second satellite based on the direction of the light source and the angle measurement results of the first laser terminal. The signal laser is introduced into the communication receiving field of view of the local satellite, and the first laser terminal is controlled by a tracking and adjustment strategy with preset accuracy so that the signal laser is stably maintained in the communication receiving field of view.

2. The inter-satellite laser link establishment method according to claim 1, characterized in that, Also includes: Based on the spatial status, network status, and connectivity requirements of the local satellite, the local satellite initiates an inter-satellite link establishment request with the second satellite.

3. The inter-satellite laser link establishment method according to claim 1, characterized in that, Establishing a laser communication link with the second satellite also includes: Obtain the orbital data of the second satellite according to the confirmation command; The vector position of the second satellite relative to the local satellite is calculated using the orbital data of the second satellite, the orbital data of the local satellite, and the attitude of the local satellite. The second satellite is located by combining at least two scanning methods with different levels of precision based on the vector position.

4. The inter-satellite laser link establishment method according to claim 3, characterized in that, Positioning the second satellite using a combination of at least two scanning methods with varying degrees of precision based on the vector position includes: The local satellite's laser terminal, controlled by the vector position, will point its emission optical axis toward the direction of the second satellite. The second satellite is located by scanning a first region in the direction of the second satellite using a combination of at least two different levels of precision at a preset cycle.

5. The method for establishing an inter-satellite laser link according to any one of claims 1 to 4, characterized in that, The identification information includes ephemeris, satellite number, and terminal number; the link establishment parameters include scanning method, scan line width, scanning speed, and link establishment node.

6. A method for establishing an inter-satellite laser link, applied to a local satellite, characterized in that, include: The second laser terminal of the local satellite receives the identification information and link establishment parameters of the third satellite sent by the first satellite, and sends a feedback confirmation command to the third satellite through the first satellite; Staring parameters are generated using the identification information and the link establishment parameters, and a laser communication link is established with the third satellite based on the staring parameters; The third satellite and the local satellite are located within the service domain of the first satellite; The laser communication link established between the gaze parameters and the third satellite includes: The direction of the light source is determined based on the signal laser captured by the laser terminal of the local satellite. The receiving optical axis of the laser terminal of the local satellite is adjusted to point towards the laser terminal of the third satellite based on the direction of the light source and the angle measurement results of the laser terminal of the local satellite. The laser terminal of the local satellite is controlled to superimpose an advance aiming angle on the transmitting optical axis.

7. The inter-satellite laser link establishment method according to claim 6, characterized in that, The establishment of a laser communication link with the third satellite based on the gaze parameters also includes: The orbital data of the third satellite are obtained based on the gaze parameters; The vector position of the third satellite relative to the local satellite is calculated using the orbital data of the third satellite, the orbital data of the local satellite, and the attitude of the local satellite. The third satellite is located by scanning the vector position, and a laser communication link is established with the third satellite.

8. The method for establishing an inter-satellite laser link according to claim 6 or 7, characterized in that, The identification information includes ephemeris, satellite number, and terminal number; the link establishment parameters include scanning method, scan line width, scanning speed, and link establishment node.

9. An inter-satellite laser link establishment device, applied to a local satellite, characterized in that, include: The signal transmission module is used to respond to the identification information of the second laser terminal of the second satellite transmitted by the first satellite to the first laser terminal of the local satellite, and to transmit the link establishment parameters to the second satellite through the first satellite; The control module is used to respond to the confirmation command received by the first laser terminal from the second satellite via the first satellite, and to establish a laser communication link with the second satellite; establishing a laser communication link with the second satellite includes: adjusting the pointing direction of the local satellite's receiving optical axis through the signal laser emitted by the second satellite to establish a laser communication link with the second satellite; The process of adjusting the direction of the receiving optical axis of the local satellite to establish a laser communication link with the second satellite by means of the following steps: determining the direction of the light source based on the signal laser captured by the first laser terminal; adjusting the receiving optical axis of the first laser terminal to point towards the laser terminal of the second satellite based on the direction of the light source and the angle measurement results of the first laser terminal; introducing the signal laser into the communication receiving field of view of the local satellite; and controlling the first laser terminal through a tracking adjustment strategy with preset accuracy to keep the signal laser stably maintained in the communication receiving field of view. The second satellite and the local satellite are located within the service domain of the first satellite.

10. An inter-satellite laser link establishment device, applied to a local satellite, characterized in that, include: The signal receiving module is used to respond to the identification information and link establishment parameters of the third satellite sent by the first satellite received by the second laser terminal of the local satellite, and to send the feedback confirmation command to the third satellite through the first satellite; The control module is configured to generate staring parameters using the identification information and the link establishment parameters, and establish a laser communication link with the third satellite based on the staring parameters. Establishing the laser communication link with the third satellite based on the staring parameters includes: determining the light source direction based on the signal laser captured by the local satellite's laser terminal; adjusting the receiving optical axis of the local satellite's laser terminal to point towards the laser terminal of the third satellite based on the light source direction and the angle measurement results of the local satellite's laser terminal; and controlling the local satellite's laser terminal to superimpose an advance aiming angle on its transmitting optical axis. The third satellite and the local satellite are located within the service domain of the first satellite.

11. An inter-satellite laser link communication system, characterized in that, include: The third satellite includes a first laser terminal, which is used to generate link establishment parameters and send them to the second laser terminal via the first satellite when the first laser terminal receives the identification information of the second laser terminal of the second satellite sent by the first satellite. In response to the confirmation command fed back by the second laser terminal through the first satellite, open-loop pointing tracking is initiated towards the area of ​​the second laser terminal according to the confirmation command; when the signal laser emitted by the second laser terminal is captured, a tracking state is established with the second laser terminal so as to build a laser communication link with the second laser terminal through the tracking state; The second satellite includes a second laser terminal, which is used to send a confirmation command to the first laser terminal via the first satellite when the second laser terminal receives the identification information and link establishment parameters of the first laser terminal sent by the first satellite; generate staring parameters in response to the identification information and link establishment parameters, and initiate open-loop pointing tracking to the area of ​​the first laser terminal through the staring parameters; and establish a tracking state with the first laser terminal when the signal laser emitted by the first laser terminal is captured, so as to build a laser communication link with the first laser terminal through the tracking state. The first satellite is configured to, upon receiving an inter-satellite link establishment request, send the identification information of the first laser terminal to the second laser terminal and send the identification information of the second laser terminal back to the first laser terminal; and receive the link establishment parameters sent by the first laser terminal, send the link establishment parameters to the second laser terminal, and send the confirmation information sent back by the second laser terminal to the first laser terminal. The third satellite and the second satellite are located within the service domain of the first satellite.

12. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the method of any one of claims 1 to 8.

13. A computer program product comprising a computer program / instructions, characterized in that, When the computer program / instructions are executed by the processor, they implement the steps of the method according to any one of claims 1 to 8.

14. A chip, characterized in that, The chip includes a circuit system configured to perform the steps of the method according to any one of claims 1 to 8.

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