Satellite-ground integrated cooperative efficient alignment method based on large-view-field optical load

Abstract

The invention discloses a satellite-ground integrated cooperative efficient alignment method based on a large-view-field optical load, relates to the technical field of spacecraft systems, and solves the problems that in the prior art, precision is low, response is slow, the requirements of remote sensing satellite high-speed data transmission for pointing precision and link availability are met, and satellite data transmission efficiency is improved. Comprising the following steps that S1, when a satellite enters a data transmission mode, a laser ground station opens beacon light, and a satellite center computer executes an alignment program; s2, satellite alignment is completed, and a data transmission link between the satellite and the laser ground station is established; and S3, the satellite carries out a data transmission test, and when the data transmission test is completed, the satellite and laser ground station data transmission link is quitted, and the operation is ended.

Description

Technical Field

[0001] The present invention relates to the technical field of spacecraft systems, and in particular to a satellite-ground integrated collaborative and efficient alignment method based on a large-field-of-view optical payload. Background Art

[0002] Against the backdrop of the accelerating global advancement of digital remote sensing applications, remote sensing satellites, with their advantages of high resolution, wide coverage, and all-day observation, have become core infrastructure for geographic information acquisition, meteorological monitoring, and disaster warning. With the widespread use of various imaging modes such as push-broom and video imaging, the volume of remote sensing satellite data is growing exponentially. Traditional communication methods, due to their limited transmission rates, are no longer able to meet the demand for data downlink. Satellite-to-ground laser communication, with its ultra-high bandwidth, low latency, and strong anti-interference capabilities, has become a key technology for the real-time transmission of massive amounts of remote sensing satellite data. The combination of high-frequency, high-speed microwaves and laser terminals has become the primary method for high-speed satellite-to-ground data transmission.

[0003] However, in existing technology systems, directional communication terminals (such as laser terminals and high-frequency, high-speed microwave antennas) have relatively small fields of view, and their coordinated control with satellite platforms presents multiple challenges, including poor multi-system coordination and difficulty ensuring alignment and tracking accuracy. The existing process relies on single-sensor data, resulting in large calibration errors in the camera and communication terminal installation matrix, making it difficult to meet the accuracy and real-time requirements of high-precision alignment. In the miss distance extraction process, a relatively simple extraction method is used, resulting in long pre-alignment times, susceptibility to interference from background light, and large positioning errors, which seriously restrict antenna alignment and coarse tracking accuracy. Summary of the Invention

[0004] The present invention solves the problems of low precision and slow response in the prior art, meets the requirements of remote sensing satellite high-speed data transmission on pointing accuracy and link availability, and improves satellite data transmission efficiency.

[0005] The satellite-ground integrated collaborative and efficient alignment method based on a large-field-of-view optical payload described in the present invention comprises the following steps: Step S1, when the satellite enters the data transmission mode, the laser ground station turns on the beacon light and the satellite center computer performs the alignment procedure; Step S2: Satellite alignment is completed and a data transmission link between the satellite and the laser ground station is established; In step S3, the satellite carries out a data transmission test. When the data transmission test is completed, the satellite and the laser ground station data transmission link is exited, and the operation ends.

[0006] Furthermore, in one embodiment of the present invention, it is characterized in that in the step S1, the satellite center computer executes an alignment procedure, including the following steps: Step S101: The satellite center computer enters an interrupt state and loads calibration parameters of the communication terminal antenna and camera coordinate system respectively, and the camera stares at the laser ground station; Step S102, imaging the beacon light through the camera, and determining whether the beacon light enters the camera field of view based on the camera coordinate system calibration parameters, if so, executing step S103, if not, executing step S101; Step S103, calculating the miss distance based on the grayscale matrix of the beacon light image collected by the camera, and calculating the angle between the beacon light and the camera optical axis based on the miss distance; Step S104, based on the angle between the beacon light and the camera optical axis, assist in satellite pointing correction and calculate the vector of the beacon light in the camera coordinate system; Step S105, performing satellite attitude control based on the vector of the beacon light in the camera coordinate system to control the satellite attitude adjustment amount; In step S106, the laser ground station is fine-tuned according to the beacon light, and the communication terminal antenna is collaboratively fine-tuned according to the beacon light until the target accuracy is reached, and the operation ends.

[0007] Furthermore, in one embodiment of the present invention, in step S102, the condition for the beacon light to enter the camera field of view is: The dynamic angle between the beacon light vector and the camera optical axis is ≤ half of the camera field of view angle.

[0008] Furthermore, in one embodiment of the present invention, the dynamic angle between the beacon light vector and the camera optical axis is ≤ half of the camera field of view angle, specifically: ; in, is the beacon light vector in the camera coordinate system, is the camera optical axis vector, is the camera field of view.

[0009] Furthermore, in one embodiment of the present invention, in step S103, the calculation of the miss distance based on the grayscale matrix of the beacon light image captured by the camera is specifically as follows: ; in, is the grayscale matrix of the beacon spot image collected by the camera, is the effective area of ​​the light spot, and are the cut-off coefficients in the two directions, is the coordinate of the center of the light spot; ; in, is the off-target amount, and They are the principal point coordinates of the camera in two directions respectively.

[0010] Furthermore, in one embodiment of the present invention, in step S103, the angle between the beacon light and the camera optical axis is specifically: ; in, is the off-target amount, is the angle between the beacon light and the camera optical axis, is the focal length of the camera.

[0011] Furthermore, in one embodiment of the present invention, in step S104, the auxiliary satellite pointing correction is specifically: ; in, is the proportional correction coefficient, is the antenna pointing and camera optical axis conversion matrix, is the angle between the beacon light and the camera optical axis, is the angle between the optical axis and the beacon light vector in the camera prism coordinate system, Transpose of a vector.

[0012] Furthermore, in one embodiment of the present invention, in step S105, the satellite attitude adjustment amount is specifically: ; in, is the satellite attitude adjustment amount, for exist Projection of the plane, for exist Projection of the plane, for exist Projection of the plane, for exist Projection of the plane, for exist Projection of the plane, for exist Projection of the plane, is the beacon light vector in the camera coordinate system, Pointing direction for communication terminal antenna.

[0013] The present invention solves the problems of low accuracy and slow response in the existing technology, meets the requirements of remote sensing satellite high-speed data transmission for pointing accuracy and link availability, and improves satellite data transmission efficiency. Specific beneficial effects include: The present invention proposes a highly efficient, satellite-ground integrated collaborative alignment method based on a large-field-of-view optical payload for communication terminal antennas. This method, which utilizes a remote sensing large-field-of-view optical camera payload as the communication alignment hardware, eliminates the need for additional optical generators and receivers. This method, combined with satellite attitude closed-loop control, enables faster establishment of antenna pointing vectors. Through the aid of large-field-of-view optical payload alignment, multiple communication terminal antennas can share alignment data, improving efficiency while ensuring alignment accuracy. This method is not specific to a specific antenna type and is therefore universal and widely applicable. The invention discloses a satellite-ground integrated collaborative and efficient alignment method based on a large-field-of-view optical payload. The satellite center computer realizes the alignment technology of the communication terminal antenna by realizing closed-loop collaboration of data acquisition, miss distance calculation, and attitude control. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which: Figure 1 is a schematic diagram of coordinate system definition described in the specific implementation manner; Figure 2 is a flow chart of the alignment process described in the specific embodiment; Figure 3 It is a flow chart of the satellite center computer executing the alignment program described in the specific implementation method. DETAILED DESCRIPTION

[0015] The following will clearly and completely describe various embodiments of the present invention in conjunction with the accompanying drawings. The embodiments described with reference to the accompanying drawings are exemplary and intended to be used to explain the present invention, but should not be understood as limiting the present invention.

[0016] The satellite-ground integrated collaborative and efficient alignment method based on a large-field-of-view optical payload described in this embodiment includes the following steps: Step S1, when the satellite enters the data transmission mode, the laser ground station turns on the beacon light and the satellite center computer performs the alignment procedure; Step S2: Satellite alignment is completed and a data transmission link between the satellite and the laser ground station is established; In step S3, the satellite carries out a data transmission test. When the data transmission test is completed, the satellite and the laser ground station data transmission link is exited, and the operation ends.

[0017] In this embodiment, in step S1, the satellite center computer executes an alignment procedure, including the following steps: Step S101: The satellite center computer enters an interrupt state and loads calibration parameters of the communication terminal antenna and camera coordinate system respectively, and the camera stares at the laser ground station; Step S102, imaging the beacon light through the camera, and determining whether the beacon light enters the camera field of view based on the camera coordinate system calibration parameters, if so, executing step S103, if not, executing step S101; Step S103, calculating the miss distance based on the grayscale matrix of the beacon light image collected by the camera, and calculating the angle between the beacon light and the camera optical axis based on the miss distance; Step S104, based on the angle between the beacon light and the camera optical axis, assist in satellite pointing correction and calculate the vector of the beacon light in the camera coordinate system; Step S105, performing satellite attitude control based on the vector of the beacon light in the camera coordinate system to control the satellite attitude adjustment amount; In step S106, the laser ground station is fine-tuned according to the beacon light, and the communication terminal antenna is collaboratively fine-tuned according to the beacon light until the target accuracy is reached, and the operation ends.

[0018] In this embodiment, in step S102, the condition for the beacon light to enter the camera field of view is: The dynamic angle between the beacon light vector and the camera optical axis is ≤ half of the camera field of view angle.

[0019] In this embodiment, the dynamic angle between the beacon light vector and the camera optical axis is ≤ half of the camera field of view angle, specifically: ; in, is the beacon light vector in the camera coordinate system, is the camera optical axis vector, is the camera field of view.

[0020] In this embodiment, in step S103, the miss distance is calculated based on the grayscale matrix of the beacon light image collected by the camera, specifically: ; in, is the grayscale matrix of the beacon spot image collected by the camera, is the effective area of ​​the light spot, and are the cut-off coefficients in the two directions, is the coordinate of the center of the light spot; ; in, is the off-target amount, and They are the principal point coordinates of the camera in two directions respectively.

[0021] In this embodiment, in step S103, the angle between the beacon light and the camera optical axis is specifically: ; in, is the off-target amount, is the angle between the beacon light and the camera optical axis, is the focal length of the camera.

[0022] In this embodiment, in step S104, the auxiliary satellite pointing correction is specifically as follows: ; in, is the proportional correction coefficient, is the antenna pointing and camera optical axis conversion matrix, is the angle between the beacon light and the camera optical axis, is the angle between the optical axis and the beacon light vector in the camera prism coordinate system, Transpose of a vector.

[0023] In this embodiment, in step S105, the satellite attitude adjustment amount is specifically: ; in, is the satellite attitude adjustment amount, for exist Projection of the plane, for exist Projection of the plane, for exist Projection of the plane, for exist Projection of the plane, for exist Projection of the plane, for exist Projection of the plane, is the beacon light vector in the camera coordinate system, Pointing direction for communication terminal antenna.

[0024] In the existing technology, due to the relatively small field of view of directional communication terminals, the coordinated control with satellite platforms has many problems such as poor multi-system coordination, difficulty in ensuring alignment and tracking accuracy, etc.

[0025] To solve the above technical problems, this implementation method proposes a collaborative alignment technology based on the camera main payload and the laser ground station for the on-orbit satellite-to-ground data transmission application of space remote sensing satellites, and builds an integrated alignment and tracking system. Through precise calibration modeling, anti-interference miss distance extraction, multi-terminal collaborative control and closed-loop process optimization, the following are the specific implementations: like Figure 1 As shown, satellites usually use the camera optical axis as a reference to define the camera coordinate system calibration parameters , the origin is the optical center of the camera, In the figure, the camera optical axis vector , this vector is the direction of the camera optical axis, the positive direction is away from the camera, and the communication terminal antenna is defined as ,Should is the direction of the antenna's electric axis. The conversion relationship between the two vectors is as follows: ; in, is the antenna pointing and camera optical axis conversion matrix, which can be obtained by using the theodolite to accurately calibrate the prism.

[0026] definition is the beacon light vector in the camera coordinate system, which is unknown outside the camera's field of view. The necessary condition for the camera to image the beacon light from the laser ground station is that the dynamic angle between the beacon light vector and the camera's optical axis is ≤ half of the camera's field of view, that is: ; in, is the camera field of view.

[0027] After the satellite enters data transmission mode, the satellite center computer calculates the target attitude based on the current satellite orbit parameters and the laser ground station coordinates. By adjusting the satellite attitude, the wide-field-of-view optical camera is initially oriented toward the laser ground station. The laser ground station's beacon light forms an image on the camera detector. Initially, because the beacon light and the camera's optical axis do not coincide, its projection on the imaging plane deviates from the center point, resulting in a miss distance.

[0028] Satellites typically have excellent pointing accuracy (better than 0.006°) and attitude stability (better than 0.001° / s). Furthermore, cameras with larger apertures and higher transfer functions make it easier to form a clear and stable image of the beacon light on the focal plane. Using a grayscale-weighted centroid algorithm and utilizing the grayscale distribution of the spot area, we can achieve sub-pixel location and extraction of the beacon light spot center.

[0029] Assume that the grayscale matrix of the beacon spot image captured by the camera is , , is the effective area of ​​the light spot, through Segment the image, To set the grayscale threshold, define , is the maximum value, and is the cut-off coefficient in two directions. Then the center coordinate of the light spot is for: .

[0030] By weighting the grayscale value of the light spot, the energy distribution of the light spot is balanced, the influence of noise and edge blur on the center of the light spot is reduced, the influence of atmospheric turbulence and satellite jitter is further reduced, and the system noise suppression capability and calculation accuracy are improved.

[0031] In order to further determine the precise pointing vector and eliminate the influence of the camera principal point deviation on the miss distance calculation results, the actual spot displacement on the camera focal plane, that is, the miss distance, is expressed as: ; in, and are the principal point coordinates of the camera in two directions, The miss distance after eliminating the deviation is converted into the physical miss distance, and the angle between the beacon light and the camera optical axis on the focal plane is calculated by the following function: ; Through coordinate transformation, the angle between the optical axis and the beacon light vector in the camera prism coordinate system is obtained ,in, is the proportional correction coefficient, is the focal length of the camera.

[0032] ; in, is the change matrix between the camera coordinate system and the satellite coordinate system, Transpose the matrix.

[0033] Image processing by satellite center computer ,get The following formula is used to calculate the satellite attitude adjustment amount from the beacon light entering the camera field of view to the satellite antenna pointing to the ground station and starting data transmission antenna: .

[0034] ; in, for exist Projection of the plane, for exist Projection of the plane, for exist Projection of the plane, for exist Projection of the plane, for exist Projection of the plane, for exist Projection of a plane.

[0035] Subsequently, different alignment fine-tuning methods are selected based on the type of communication payload being carried. For example, the laser terminal's built-in FSM (Fast Tilting Mirror) can compensate for angular displacement, while its onboard precision tracking detector, such as the QPD (Quadrant Detector, 10kHz bandwidth), can measure the offset of the laser head during initial alignment. The system then uses a closed-loop control algorithm to fine-tune the angle. Microwave antenna pointing fine-tuning typically uses adaptive adjustments based on the beacon optical signal intensity gradient. The adjustment amount is: ; in, is the adjustment coefficient matrix, is the beacon light intensity, and are the two-axis angles of the antenna, is the beacon light intensity gradient matrix, is the angle adjustment amount, Transpose the matrix.

[0036] The laser ground station follows the antenna beacon light, making precise adjustments and maintaining tracking. Ultimately, through space-based, large-field-of-view camera-based, integrated satellite-ground collaborative and efficient alignment technology, the communication terminal antenna achieves high-precision alignment of better than 40μrad.

[0037] Therefore, the satellite-ground integrated collaborative efficient alignment method based on a large field of view optical payload described in this embodiment is as follows: Figure 2 As shown, the following steps are included: Step S1, determine whether the satellite enters the data transmission arc segment, if so, execute step S2, if not, execute step S5; Step S2, the laser ground station determines whether the satellite has entered the data transmission mode through telemetry instructions. If so, step S3 is executed; if not, step S5 is executed; Step S3: The laser ground station turns on the beacon light array, and the satellite center computer executes the alignment procedure; Step S4: After the satellite alignment is completed, a data transmission link between the satellite and the laser ground station is established, and the satellite conducts a data transmission test. After the data transmission is completed, the data transmission link between the satellite and the laser ground station is exited; Step S5, end the operation.

[0038] The satellite's central computer is the satellite's core control hub, primarily responsible for attitude control, data processing, command distribution, and system coordination. During attitude control, the central computer collects real-time data from sensors such as star sensors and gyroscopes to construct a three-axis (roll / pitch / yaw) spatial attitude model of the satellite. After comparing this data with the preset target attitude, it uses PID control algorithms and other techniques to generate commands that drive actuators such as flywheels, magnetic torquers, or thrusters to achieve attitude adjustments.

[0039] The calculation process of the satellite center computer is as follows Figure 3 As shown, the following steps are included: Step S301: The satellite center computer enters an interrupt state and loads calibration parameters of the communication terminal antenna and camera coordinate system respectively, and the camera stares at the laser ground station; Step S302, imaging the beacon light through the camera, and determining whether the beacon light enters the camera field of view by comparing the relationship between the dynamic angle between the beacon light vector and the camera optical axis and half of the camera field of view angle. If so, execute step S303; if not, execute step S302; Step S303, processing the beacon light image based on the gray value weighting method and calculating the miss distance, and calculating the angle between the beacon light and the camera optical axis; Step S304, assisting in satellite pointing correction, and calculating the vector of the beacon light in the camera coordinate system; Step S305, performing satellite attitude control to control the satellite attitude adjustment amount; In step S306, the laser ground station is fine-tuned according to the beacon light, and the communication terminal antenna is collaboratively fine-tuned according to the beacon light to achieve a precise alignment of no more than 40 μrad and a tracking accuracy of 5 μrad.

[0040] In order to better illustrate the satellite-ground integrated collaborative efficient alignment method based on a large field of view optical payload described in this embodiment, the following examples are described in detail: The main payload of a remote sensing satellite is a 1.0m-resolution, wide-field-of-view optical remote sensing camera with a 270mm aperture, a typical signal-to-noise ratio of 41dB, and a field of view of 4° (70 mrad). The satellite orbits at a sun-synchronous orbit altitude of 535km. The onboard laser communication terminal has an antenna beam divergence of 0.0063° (0.11 mrad), a field of view of 0.2865° (5 mrad), a beacon beam divergence of 0.03438° (0.6 mrad), and a signal beam divergence of 0.002865° (0.05 mrad), with an average data rate of 10 Gbps. The laser ground station has a field of view of 0.229° (0.384 mrad), a beacon optical power of 15W, a beam divergence of 0.1146° (2 mrad), and a signal beam divergence of 0.004° (0.07 mrad).

[0041] When the satellite is transmitting data, each transmission lasts 490 seconds, with a total effective data volume of 612.5 GB. After coordinated alignment of the large-aperture camera and the laser ground station, the transmission lasts 550 seconds, with a total effective data volume of 687.5 GB, increasing the satellite's data transmission capacity by 12%.

[0042] In summary, through the satellite-ground integrated collaborative efficient alignment method based on a large field of view optical payload described in this embodiment, a universal satellite-ground integrated collaborative alignment technology based on a large field of view optical payload is established. A 4° large field of view optical camera is used to image the laser ground station beacon light. The installation matrix is ​​accurately calibrated with the help of a theodolite to eliminate the initial zero position error of the installation. The grayscale weighted centroid algorithm is combined with the camera coordinate transformation method to achieve high-precision extraction of the camera miss amount. A coupling model for satellite pointing and miss amount correction is established, and the alignment error is converged to 100μrad through closed-loop control; through the coordinated fine-tuning of the ground laser station and the communication terminal antenna, accurate pointing better than 40μrad and tracking accuracy of 5μrad are achieved.

[0043] Satellite attitude control platforms and cameras are used to improve the capture efficiency, tracking stability, and communication availability of the satellite-to-ground laser link, supporting high-speed, real-time downlink of high-resolution remote sensing data. Furthermore, since the payload of space data transmission antennas is typically limited by their aperture, for example, higher-frequency microwave antennas tend to have stronger directivity and narrower half-beamwidths. High-gain Ka-band microwave antennas with 800MB communication rates typically have half-power beamwidths of 0.1° to 1.0°, while high-frequency Q / V-band antennas with 1500MB communication rates and above, with half-wavelength widths typically below 0.8° or even less. Laser antenna beam divergence is typically between 0.002° and 0.03°, with a typical field of view below 0.5°.

[0044] The field of view angle of the camera carried by the satellite is usually larger, more than 5 times the field of view angle of the above payloads. Compared with the autonomous alignment solution of the communication terminal antenna, the difficulty of capturing ground station signals using the collaborative alignment technology of the large-field-of-view optical payload is greatly reduced.

[0045] The above is a detailed introduction to the satellite-ground integrated collaborative efficient alignment method based on a large field of view optical payload proposed in the present invention. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the ideas of the present invention, there may be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A satellite-ground integrated collaborative and efficient alignment method based on a large field of view optical payload, characterized by: The following steps are involved: Step S1, when the satellite enters the data transmission mode, the laser ground station turns on the beacon light and the satellite center computer performs the alignment procedure; Step S2: Satellite alignment is completed and a data transmission link between the satellite and the laser ground station is established; In step S3, the satellite carries out a data transmission test. When the data transmission test is completed, the satellite and the laser ground station data transmission link is exited, and the operation ends.

2. The satellite-ground integrated collaborative and efficient alignment method based on a large field of view optical payload according to claim 1 is characterized in that: In step S1, the satellite center computer executes an alignment procedure, including the following steps: Step S101: The satellite center computer enters an interrupt state and loads calibration parameters of the communication terminal antenna and camera coordinate system respectively, and the camera stares at the laser ground station; Step S102, imaging the beacon light through the camera, and determining whether the beacon light enters the camera field of view based on the camera coordinate system calibration parameters, if so, executing step S103, if not, executing step S101; Step S103, calculating the miss distance based on the grayscale matrix of the beacon light image collected by the camera, and calculating the angle between the beacon light and the camera optical axis based on the miss distance; Step S104, based on the angle between the beacon light and the camera optical axis, assist in satellite pointing correction and calculate the vector of the beacon light in the camera coordinate system; Step S105, performing satellite attitude control based on the vector of the beacon light in the camera coordinate system to control the satellite attitude adjustment amount; In step S106, the laser ground station is fine-tuned according to the beacon light, and the communication terminal antenna is collaboratively fine-tuned according to the beacon light until the target accuracy is reached, and the operation ends.

3. The satellite-ground integrated collaborative and efficient alignment method based on a large field of view optical payload according to claim 2 is characterized in that: In step S102, the condition for the beacon light to enter the camera field of view is: The dynamic angle between the beacon light vector and the camera optical axis is ≤ half of the camera field of view angle.

4. The satellite-ground integrated collaborative and efficient alignment method based on a large field of view optical payload according to claim 3 is characterized in that: The dynamic angle between the beacon light vector and the camera optical axis is ≤ half of the camera field of view angle, specifically: ； in, is the beacon light vector in the camera coordinate system, is the camera optical axis vector, is the camera field of view.

5. The satellite-ground integrated collaborative and efficient alignment method based on a large field of view optical payload according to claim 2 is characterized in that: In the step S103, the miss distance is calculated based on the grayscale matrix of the beacon light image collected by the camera, specifically: ； in, is the grayscale matrix of the beacon spot image collected by the camera, is the effective area of ​​the light spot, and are the cut-off coefficients in the two directions, is the coordinate of the center of the light spot; ； in, is the off-target amount, and They are the principal point coordinates of the camera in two directions respectively.

6. The satellite-ground integrated collaborative and efficient alignment method based on a large field of view optical payload according to claim 2 is characterized in that: In step S103, the angle between the beacon light and the camera optical axis is specifically: ； in, is the off-target amount, is the angle between the beacon light and the camera optical axis, is the focal length of the camera.

7. The satellite-ground integrated collaborative and efficient alignment method based on a large field of view optical payload according to claim 2 is characterized in that: In step S104, the auxiliary satellite pointing correction is specifically as follows: ； in, is the proportional correction coefficient, is the antenna pointing and camera optical axis conversion matrix, is the angle between the beacon light and the camera optical axis, is the angle between the optical axis and the beacon light vector in the camera prism coordinate system, Transpose of a vector.

8. The satellite-ground integrated collaborative and efficient alignment method based on a large field of view optical payload according to claim 2 is characterized in that: In step S105, the satellite attitude adjustment amount is specifically: ； in, is the satellite attitude adjustment amount, for exist Projection of the plane, for exist Projection of the plane, for exist Projection of the plane, for exist Projection of the plane, for exist Projection of the plane, for exist Projection of the plane, is the beacon light vector in the camera coordinate system, Pointing direction for communication terminal antenna.

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