Stable inter-satellite laser communication method and device and storage medium

Abstract

The invention discloses a stable inter-satellite laser communication method and device and a storage medium, and belongs to the field of satellite communication. The method comprises the following steps: determining the vibration displacement and the vibration speed of an optical communication module of a first satellite serving as a launcher by utilizing a displacement sensor in a current control period, and calculating active damping control force according to the vibration displacement and the vibration speed; calculating an active damping compensation force according to the actual receiving power and the preset reference receiving power of a second satellite serving as a receiver in a past preset time period; determining a total active damping control force based on the active damping control force and the active damping compensation force; and according to the total active damping control force, driving an active damper to apply a corresponding counteracting force to the optical communication module. Through a double closed-loop mechanism fusing local vibration sensing and cross-satellite power feedback, collaborative optimization of satellite platform broadband vibration suppression and ultra-long distance beam slow drift compensation is realized, link stability of laser communication between satellites is guaranteed, and receiving power jitter and error code risks are effectively avoided.

Description

Technical Field

[0001] The present application relates to the field of satellite communication technology, and in particular to a method, device and storage medium for maintaining stable inter-satellite laser communication. Background Art

[0002] With the rapid development of space information networks, inter-satellite laser communication technology has become the core means of building an integrated high-speed communication network between the earth and the sky due to its advantages such as large bandwidth, high confidentiality and strong anti-interference ability.

[0003] For example, the invention with publication number CN119966511A, titled "A Multi-channel Transceiver Satellite Laser Communication System and Method Based on Optical Switches," includes a main control unit and a power supply unit electrically connected to an external satellite platform, as well as a high-speed optical transceiver unit, an optical switch unit, an optical transmission branch unit, and an optical reception branch unit, respectively connected to the main control unit and the power supply unit. The high-speed optical transceiver unit includes m high-speed optical modules capable of transmitting and receiving optical signals; the optical transmission branch unit includes n optical transmission branches; and the optical reception branch unit includes n optical reception branches. The invention has a high level of integration, eliminates the need for multiple optoelectronic conversions, and enhances the link reliability of the communication system.

[0004] For example, the publication number is CN115941042A, and the invention name is an inter-satellite laser communication system, which includes: a signal transmitter: arranged at the satellite end, using an independent laser light source and a transmitting mirror to emit a laser beam of a set wavelength, and the laser beam generates a downlink signal after modulation; an optical receiving antenna: arranged at the ground end, the downlink signal light emitted from the satellite is transmitted through the atmospheric channel, and is received and converged by the optical receiving antenna to generate a distorted wavefront; a deformable mirror: changes the mirror surface shape in real time according to the control voltage; a beam splitter: used to separate beacon light and signal light from the corrected distorted wavefront; a data processing module: receives beacon light, is used to detect the disturbance information of the light wavefront, converts it into a corresponding control signal after processing, and controls the deformation of each part of the deformable mirror through the control signal to compensate and correct the distorted wavefront.

[0005] However, this technology faces significant challenges in dynamic links over extremely long distances (typically exceeding 10,000 kilometers) where the transmitting and receiving satellites are in high-speed relative motion. Satellite communication links are extremely long, and both communicating parties are constantly in high-speed orbital motion. In this scenario, the satellite's inherent micro-vibration environment (caused by moving components such as the attitude adjustment mechanism and solar array drive) is transmitted to the optical communication module installed on the satellite, causing the transmitted beam to fluctuate in its directional direction. This reduces the stability of the laser link, leading to received power jitter and even bit errors during laser signal transmission.

[0006] Therefore, in ultra-long-distance dynamic links, the vibration of the satellite itself will induce instability in the beam pointing, making the link stability of inter-satellite laser communication insufficient, resulting in received power jitter or even bit errors during laser signal transmission. Summary of the Invention

[0007] The embodiments of the present disclosure provide a method, device and storage medium for maintaining stable inter-satellite laser communication, so as to at least solve the technical problem in the prior art that in ultra-long-distance dynamic links, the vibration of the satellite itself may induce instability of the light beam pointing, resulting in insufficient link stability of the inter-satellite laser communication, leading to jitter of the received power and even bit errors during laser signal transmission.

[0008] According to one aspect of an embodiment of the present disclosure, a method for maintaining stable inter-satellite laser communication is provided, comprising: determining vibration data of an optical communication module of a first satellite using a displacement sensor within a current control cycle; wherein the first satellite is a satellite serving as a transmitter during the laser communication process, the optical communication module comprises a laser transmitter and a laser receiver, and the vibration data comprises vibration displacement and vibration velocity; calculating an active damping control force for offsetting vibration based on the vibration data; calculating an active damping compensation force based on an actual receiving power of a second satellite and a preset reference receiving power within a preset time period in the past; wherein the second satellite is a satellite serving as a receiver during the laser communication process; determining a total active damping control force based on the active damping control force and the active damping compensation force; and driving an active damper to apply a corresponding offsetting force to the optical communication module based on the total active damping control force.

[0009] According to another aspect of an embodiment of the present disclosure, a storage medium is further provided, the storage medium including a stored program, wherein when the program is run, a processor executes any one of the above methods.

[0010] According to another aspect of the embodiments of the present disclosure, a satellite-to-satellite laser communication device is also provided, which comprises a displacement sensor, an optical communication module, a processor and an active damper, wherein the processor comprises: a vibration detection module configured to determine vibration data of the optical communication module of a first satellite in a current control period by using the displacement sensor, the first satellite being a satellite acting as a transmitting party in a laser communication process, the optical communication module comprising a laser transmitter and a laser receiver, and the vibration data comprising vibration displacement and vibration velocity; a first calculation module configured to calculate an active damping control force for offsetting the vibration based on the vibration data; a second calculation module configured to calculate an active damping compensation force according to actual received power of a second satellite in a past preset time period and a preset reference received power, the second satellite being a satellite acting as a receiving party in the laser communication process; a control force determination module configured to determine a total active damping control force based on the active damping control force and the active damping compensation force; and a driving module configured to drive the active damper to apply a corresponding offset force to the optical communication module according to the total active damping control force.

[0011] According to another aspect of the embodiments of the present disclosure, a satellite-to-satellite laser communication device is also provided, which comprises a processor and a memory connected to the processor and configured to provide the processor with instructions for processing the following processing steps: determining vibration data of an optical communication module of a first satellite in a current control period by using a displacement sensor, the first satellite being a satellite acting as a transmitting party in a laser communication process, the optical communication module comprising a laser transmitter and a laser receiver, and the vibration data comprising vibration displacement and vibration velocity; calculating an active damping control force for offsetting the vibration based on the vibration data; calculating an active damping compensation force according to actual received power of a second satellite in a past preset time period and a preset reference received power, the second satellite being a satellite acting as a receiving party in the laser communication process; determining a total active damping control force based on the active damping control force and the active damping compensation force; and driving an active damper to apply a corresponding offset force to the optical communication module according to the total active damping control force.

[0012] This application addresses the core contradiction of beam instability caused by satellite platform vibration in ultra-long-distance dynamic links, and proposes a method for maintaining stable inter-satellite laser communication. During the current control cycle, this method synchronously determines the vibration displacement and vibration velocity of the optical communication module of the first satellite through a displacement sensor, providing a real-time perception basis for subsequent vibration control. Then, the active damping control force is dynamically calculated based on the vibration displacement and vibration velocity to ensure that the high-frequency vibration component is offset in real time. Secondly, based on the actual received power of the second satellite and the preset reference received power in the past preset time period, an active damping compensation force is generated to correct the directivity slow drift and ensure that the low-frequency beam offset is compensated in a closed loop. Thirdly, the active damping control force and the active damping compensation force are synergistically integrated to form a total active damping control force, which establishes a decision-making basis for subsequent precise mechanical offset. Finally, based on the total active damping control force, the active damper is driven to apply the corresponding offset force to the optical communication module to achieve full-band active stabilization of the beam pointing. This application achieves the coordinated optimization of broadband vibration suppression of satellite platforms and ultra-long-distance beam drift compensation by integrating a dual closed-loop mechanism of local vibration sensing and cross-satellite power feedback, ensuring the link stability of inter-satellite laser communications and effectively avoiding the risk of received power jitter and bit errors. This solves the technical problem in the prior art that in ultra-long-distance dynamic links, the vibration of the satellite platform itself can induce beam pointing instability, resulting in insufficient link stability for inter-satellite laser communications and causing received power jitter and even bit errors during laser signal transmission. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The drawings described herein are used to provide a further understanding of the present disclosure and constitute a part of this application. The illustrative embodiments of the present disclosure and their descriptions are used to explain the present disclosure and do not constitute an improper limitation of the present disclosure. In the drawings: Figure 1 is a schematic diagram of the hardware architecture of the satellite system according to the first aspect of Embodiment 1 of the present application; Figure 2 1 is a schematic diagram of a module of an optical communication device with active damping deployed on a satellite according to the first aspect of Example 1 of the present application; Figure 3 is a flowchart of the method for maintaining stable inter-satellite laser communication according to the first aspect of Example 1 of the present application; Figure 4 This is a schematic diagram of a stable inter-satellite laser communication device according to Example 3 of the present application. DETAILED DESCRIPTION

[0014] In order to enable those skilled in the art to better understand the technical solutions of the present disclosure, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present disclosure.

[0015] It should be noted that the terms "first", "second", etc. in the specification and claims of the present disclosure and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present disclosure described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0016] Example 1 According to this embodiment, a method embodiment for maintaining stable inter-satellite laser communication is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0017] Figure 1 A schematic diagram showing the hardware architecture of the satellite system. Figure 1 As shown, the satellite system includes: a first satellite S1 and a second satellite S2, which can communicate with each other via a laser link. The first satellite is a transmitter during the laser communication process, and the second satellite is a receiver during the laser communication process.

[0018] Figure 2 Schematic diagram of an optical communication device with active damping deployed on a satellite according to an embodiment of the present application. Figure 2As shown, the optical communication device includes a displacement sensor, an optical communication module, a processor, and an active damper. The optical communication module includes a communication circuit, a laser transmitter, and a laser receiver. The displacement sensor is used to detect the vibration state of the optical communication module in real time, determine the vibration displacement and vibration velocity of the optical communication module based on the vibration state, and send the vibration displacement and vibration velocity to the processor. The optical communication module is used to receive feedback information from the communication partner satellite via the laser receiver and send this feedback information to the processor via the communication circuit. The processor is used to generate an adjustment control signal for the active damper based on the vibration displacement and vibration velocity determined by the displacement sensor and the feedback information transmitted by the optical communication module. The active damper is used to respond to the adjustment control signal output by the processor and apply a counteracting force opposite to the vibration direction to the optical communication module to suppress the vibration of the optical communication module and ensure the stability of the inter-satellite laser communication link.

[0019] Under the above operating environment, according to the first aspect of this embodiment, a method for maintaining stable inter-satellite laser communication is provided. The method comprises: Figure 2 The processor implementation shown in . Figure 3 A schematic diagram showing the process of the method is shown in FIG. Figure 3 As shown, the method includes: S302: During the current control cycle, determine vibration data of an optical communication module of a first satellite using a displacement sensor. The first satellite is a satellite that acts as a transmitter in the laser communication process. The optical communication module includes a laser transmitter and a laser receiver. The vibration data includes vibration displacement and vibration velocity. S304: Calculating an active damping control force for counteracting vibration based on the vibration data; S306: Calculating an active damping compensation force based on an actual received power of a second satellite and a preset reference received power within a preset time period; wherein the second satellite is a satellite serving as a receiver during the laser communication process; S308: Determining a total active damping control force based on the active damping control force and the active damping compensation force; and S310: driving the active damper to apply a corresponding counteracting force to the optical communication module according to the total active damping control force.

[0020] Specifically, combined Figure 2As shown, in the scenario of inter-satellite laser communication, when a first satellite, acting as the transmitter of a laser signal, establishes a communication link with another satellite (i.e., the receiving satellite), a displacement sensor is used to determine the vibration data of the optical communication module on the first satellite in real time during the current control cycle (corresponding to step S302). The current control cycle refers to a specific, ongoing time window strictly defined by the satellite system clock and containing a preset number of communication rounds (e.g., 10 rounds). Inter-satellite communication time is divided into a series of continuous, non-overlapping control cycles. For example, if a communication round lasts 10 milliseconds, each control cycle has a fixed duration of 100 milliseconds. If the inter-satellite communication time is divided into a continuous sequence of cycles, the "current control cycle" refers to the ongoing time window indicated by the satellite system's real-time clock. The optical communication module is the core component responsible for transmitting and receiving laser signals. It includes both a laser transmitter for emitting laser light and a laser receiver for receiving signals from other satellites. The displacement sensor can directly measure the optical communication module's vibration displacement and output a "displacement-time" signal, which reflects the distance the module deviates from its equilibrium position at each moment during vibration. The module's vibration velocity can be indirectly and accurately calculated by performing a first-order differential operation on the displacement signal output by the displacement sensor. Obtaining both the vibration displacement and velocity provides a foundation for subsequent adjustments to the module's state and maintaining laser communication stability.

[0021] Furthermore, the processor calculates an active damping control force to counteract the vibration based on the vibration data determined by the displacement sensor, namely the optical communication module's displacement and velocity (corresponding to step S304). This calculation process aims to determine an optimal counteracting control force vector (including magnitude and direction) to directly offset the vibration disturbance currently acting on the optical communication module. The application of this force effectively suppresses fluctuations in the optical communication module's position, stabilizing it within the target operating range and ensuring that high-frequency vibration components are offset in real time.

[0022] Next, the processor uses a preset time period (e.g., T milliseconds, or encompassing the most recent N communication rounds) as a time window and collects the actual laser signal power received by the second satellite within that time window. The power is then compared and analyzed with a preset reference received power, and the resulting active damping compensation force is calculated (corresponding to step S306). This compensation force is intended to establish a low-frequency closed-loop correction circuit for slow drift in beam directivity, compensating for low-frequency or even quasi-static beam drift (i.e., slow drift) caused by factors such as thermal deformation and orbital perturbations.

[0023] It should be noted that this application has made specific settings for the satellite's communication protocol and message structure to ensure the real-time and reliability of the power feedback data (i.e., the laser signal power actually received by the receiver). Specifically, in each two-way or handshake communication, the second satellite (receiver) will measure the laser signal power actually received in the previous communication round, and then encapsulate the measurement result as a data field in the response message or response signal sent to the first satellite (transmitter) in the current communication round. After successfully receiving and parsing the response message, the optical communication module of the first satellite sends it to the processor, which extracts the laser signal power actually received by the second satellite. This provides a stable and reliable data source for calculating the above-mentioned active damping compensation force.

[0024] The processor then coordinates and integrates the active damping control force and the active damping compensation force to form a total active damping control force (corresponding to step S308). This total active damping control force takes into account both the vibration-offsetting force derived directly from the vibration data and the compensation force fine-tuned based on actual received power differences. This allows for a more comprehensive response to vibration issues in the optical communication module and provides precise force parameters for subsequent control of the active damper.

[0025] Finally, based on the total active damping control force, the processor issues a control instruction to the active damper, driving it to apply a corresponding counteracting force to the optical communication module of the first satellite in accordance with the magnitude and direction of the total active damping control force (corresponding to step S310). This effectively suppresses the transmission of satellite platform vibration to the optical communication module, fundamentally resolving the problem of beam pointing instability caused by platform micro-vibration in ultra-long-distance dynamic links and significantly improving the laser link's pointing-maintaining capability.

[0026] Therefore, by integrating the dual closed-loop mechanism of local vibration sensing and cross-satellite power feedback, the coordinated optimization of satellite platform broadband vibration suppression and ultra-long-distance beam slow drift compensation is achieved, ensuring the link stability of inter-satellite laser communication and effectively avoiding the risk of received power jitter and bit errors.

[0027] As described in the background technology above, in a dynamic link environment involving ultra-long distances (typically exceeding 10,000 kilometers) and high-speed relative motion between the transmitting and receiving satellites, satellite communication links are extremely long, while both communicating parties are constantly in high-speed orbital motion. In this scenario, the inherent micro-vibration environment of the satellite (caused by moving components such as the attitude adjustment mechanism and solar panel drive) is transmitted to the optical communication module installed on the satellite, causing the directional jitter of the transmitted beam, reducing the stability of the laser link, and resulting in received power jitter and even bit errors during laser signal transmission.

[0028] In view of this, the present application synchronously determines the vibration displacement and vibration velocity of the optical communication module of the first satellite through a displacement sensor during the current control cycle, providing a real-time perception basis for subsequent vibration control. Then, the active damping control force is dynamically calculated based on the vibration displacement and vibration velocity to ensure that the high-frequency vibration component is offset in real time. Secondly, based on the actual received power of the second satellite in the past preset time period and the preset reference received power, an active damping compensation force is generated to correct the directivity slow drift and ensure that the low-frequency beam offset is compensated in a closed loop. Thirdly, the active damping control force and the active damping compensation force are synergistically integrated to form a total active damping control force, which establishes a decision-making basis for subsequent precise mechanical offset. Finally, based on the total active damping control force, the active damper is driven to apply the corresponding offset force to the optical communication module to achieve full-band active stabilization of the beam pointing. By integrating a dual closed-loop mechanism of local vibration sensing and cross-satellite power feedback, the present application realizes the coordinated optimization of broadband vibration suppression of the satellite platform and ultra-long-distance beam slow drift compensation, ensuring the link stability of inter-satellite laser communication and effectively avoiding the risk of received power jitter and bit error. This solves the technical problem in the existing technology that in ultra-long-distance dynamic links, the vibration of the satellite platform itself will induce instability in the beam pointing, resulting in insufficient link stability in inter-satellite laser communication, and causing received power jitter or even bit errors during laser signal transmission.

[0029] Optionally, the operation of calculating the active damping control force for offsetting the vibration based on the vibration data includes: calculating the active damping control force for offsetting the vibration based on the vibration data using the following formula: (1) (2) (3) in, is the active damping control force at time t; is the displacement feedback gain; is the speed feedback gain; is the vibration displacement of the optical communication module at time t; is the vibration speed of the optical communication module at time t; is the equivalent mass of the optical communication module; is the equivalent stiffness, satisfying , is the inherent stiffness coefficient of the optical communication module support structure; c is the inherent damping coefficient of the optical communication module support structure; The highest disturbance frequency suppressed by the system design, satisfying , is the highest disturbance frequency in the vibration spectrum of the first satellite; is the optimal damping ratio, satisfying , is the equivalent damping, .

[0030] Specifically, the above formula (1) can be obtained according to the PD control law formula. For formula (2), it can be derived through the following content: Based on the vibration dynamics model of the optical communication module, the following formula can be obtained: ; in, is the external disturbance force; m is the load mass of the optical communication module; c is the inherent damping coefficient of the optical communication module (N·s / m); k is the inherent stiffness coefficient of the supporting structure (N / m), which represents the natural stiffness of the mechanical structure; is the active damping control force at time t.

[0031] According to formula (1), ; ; make is the equivalent damping; is the equivalent stiffness. This formula can also be converted to: ; Among them For equivalent mass, in the present invention, =m.

[0032] Therefore, according to the definition of natural frequency f, we have ; The highest disturbance frequency f that the system is designed to suppress max ,have: ; Thus: ,Right now .

[0033] That is formula (2).

[0034] This formula (2) is based on the stiffness matching principle in the vibration control system and is used to ensure that the system can effectively suppress the highest frequency disturbance. is the equivalent mass of the optical communication module, reflecting the inertial characteristics of the module; The highest disturbance frequency suppressed by the system design ensures that the control bandwidth covers the vibration spectrum of the satellite platform; is the inherent stiffness coefficient of the supporting structure, representing the natural stiffness of the mechanical structure.

[0035] For formula (3), it is derived by the following content: According to the definition of damping ratio , we have ; For the preset optimal damping ratio , we have ; Therefore, we have ; Substitute , we further have ; Further, we have ; This formula is based on the optimal damping theory, which is used to calculate the velocity feedback gain to achieve rapid dissipation of vibration energy; wherein, is the optimal damping ratio, which satisfies , is the equivalent damping, to achieve critical damping or over-damping state; and are the equivalent mass and the equivalent stiffness, respectively, which determine the natural frequency of the system together; is the inherent damping coefficient of the support structure, which represents the natural damping characteristics of the mechanical structure.

[0036] When calculating the active damping control force to counteract the vibration, the vibration data (including vibration displacement and vibration speed) of the first satellite's optical communication module collected is needed, and then a series of formulas are used to derive the calculation. First, determine (displacement feedback gain), then calculate (velocity feedback gain) according to, and finally calculate the active damping control force according to the formula: . Among them, the equivalent mass , the equivalent stiffness (satisfying , k is the inherent stiffness coefficient of the optical communication module support structure), the highest disturbance frequency to be suppressed by the system design , is the highest disturbance frequency of the first satellite vibration spectrum), and the optimal damping ratio ​By correlating these parameters and substituting them into calculations, an active damping control force is ultimately derived to offset the disturbances in the satellite optical communication module caused by satellite vibration. In other words, by substituting the vibration data determined by the displacement sensor into the aforementioned physically meaningful calculation formula, the active damping control force used to offset vibration can be calculated. This active damping control force maintains the stability of the optical communication module, thereby preventing adverse effects on laser communications caused by satellite vibration and ensuring the stability of the inter-satellite laser communication link.

[0037] For example, suppose an active damping control is designed for an optical communication module of a satellite with the following parameters: equivalent mass =10kg (total mass of the optical communication module (usually including communication circuits, laser transmitters, laser receivers, and mechanical support structures, etc.)); inherent stiffness coefficient k=100 N / m (the original "hardness" of the mechanical support structure); inherent damping coefficient (The natural "resistance" of the mechanical support structure); the satellite's highest vibration frequency =10 Hz (the upper limit of the disturbance frequency to be suppressed); according to the formula , substitute =10 Hz: ≥4000 2 ≈39438 N / m (where Take 3.14), take =40000 N / m, =40000N / m (with redundancy), then: Then, assuming the optimal damping ratio Take 0.5, according to the formula and Substituting into Finally, suppose that at a certain moment: the displacement =0.001m (1mm, the displacement corresponding to the maximum pointing deviation allowed by the optical communication module); vibration speed = 0.01m / s (displacement change rate 0.01m / s), substitute into the formula Among them, the negative sign (" ”) means “the direction of the force is opposite to the direction of vibration”, and the magnitude is 46.17N. It is necessary to apply a force of 46.17N opposite to the vibration direction of the optical communication module to the optical communication module to maintain a stable state, avoid position displacement of the optical communication module due to satellite vibration, ensure the stability of the optical communication module during the laser communication process, and provide support for the stable transmission of the inter-satellite laser communication link.

[0038] Through the above method, the active damping control force calculation method is as follows: As the core, combined 、 The derivation and correlation of parameters such as displacement and vibration velocity of the optical communication module are integrated into the control logic. The characteristics of the satellite optical communication module are adapted according to physical quantities such as equivalent mass and equivalent stiffness to ensure the highest disturbance frequency suppressed by the system design. Covering the highest disturbance frequency of the first satellite vibration spectrum , to achieve effective suppression of satellite broadband vibration; at the same time, through the optimal damping ratio and equivalent damping The design optimizes the vibration cancellation effect and can generate active damping control force in real time and accurately, quickly offsetting the displacement and velocity disturbance of the optical communication module caused by satellite vibration, and providing high-frequency vibration suppression guarantee for the stable pointing of inter-satellite laser communication beams. It lays a solid foundation for link stability from the dimension of local vibration perception, and coordinates with subsequent compensation mechanisms to help solve the problem of beam instability in ultra-long-distance dynamic links and improve the reliability and stability of laser communication links.

[0039] Optionally, the operation of calculating the active damping compensation force based on the actual received power of the second satellite and the preset reference received power within the past preset time period includes: calculating the active damping compensation force based on the actual received power of the second satellite and the preset reference received power within the past preset time period using the following formula: (4) (5) in, is the active damping compensation force at time t; is the preset compensation gain coefficient; N is the total number of sampling moments in the past preset time period; is the absolute value of the received power deviation at the i-th sampling moment; is the instantaneous received power value measured by the second satellite at the i-th sampling moment; Represents the sampling time sequence, satisfying ,and For the current moment; is the preset reference receive power.

[0040] Specifically, to compensate for low-frequency pointing deviations caused by thermal deformation, orbital drift, and other factors, a closed-loop control system is required: the actual received power fed back by the receiver (the second satellite) is compared with a preset reference received power, and the resulting deviation is converted into a corresponding compensation force. The received power deviation at the i-th sampling moment is defined as the absolute value of the difference between the actual value and the reference value to eliminate the influence of the deviation direction on the control logic: ;in, is the absolute value of the received power deviation at the i-th sampling moment, is the instantaneous received power value actually measured by the second satellite at the i-th sampling moment, is the preset reference received power, and the two are used to calculate the received power deviation value at the i-th sampling moment.

[0041] Because directivity drift is a low-frequency change, it is necessary to average the power deviations within the past N sampling moments (a preset time window) to filter out high-frequency jitter noise and extract a stable drift trend: The average deviation It reflects the average power loss level of the communication link due to slow drift. In order to convert this power deviation into the compensation force required by the active damper, a compensation gain coefficient needs to be introduced. (Unit: N / W). This coefficient acts as a proportional controller, linearly mapping the power domain unit (Watts) to the force domain unit (Newtons). Therefore, the active damping compensation force at time t can be expressed as: ; Thus: ; ; That is, formula (4) and (5). This set of formulas is used to calculate the active damping compensation force, and realize the low-frequency compensation of the directivity slow drift by averaging the historical received power deviation; Among them, It is a preset compensation gain coefficient used to adjust the compensation strength; is the total number of sampling moments of the second satellite receiving power in the past preset time period, reflecting the length of the time window; Construct a sampling time sequence that satisfies ,and The current moment is the time at which the power changes over a period of time are reflected through sampling at these different moments.

[0042] When calculating the active damping compensation force, first use , the absolute value of the received power deviation value at the i-th sampling moment is obtained, which reflects the degree of deviation between the actual received power and the preset reference received power. Then, according to the formula , calculate the average absolute value of the received power deviation at all sampling moments in the past preset time period (by to achieve average calculation), and then multiply it by the preset compensation gain coefficient , and finally the active damping compensation force is obtained , in order to correct the deviation of the satellite's optical communication module such as beam pointing caused by various factors, and ensure the stability of the laser communication link between satellites.

[0043] For example, suppose you need to calculate the active damping compensation force based on the actual received power data of the second satellite in the past 100 milliseconds (preset time period). Setting: Preset compensation gain coefficient (This is an empirical value and can be adjusted according to actual needs); the total number of sampling times N = 10 (1 sampling every 10 milliseconds, a total of 10 times); the preset reference receiving power =10μW (the power that the second satellite should receive under ideal conditions). First, collect 10 moments (i.e. ) are 9.5μW, 10.5μW, 9.8μW, 10.2μW, 9.2μW, 10.8μW, 9.0μW, 11.0μW, 8.5μW and 11.5μW respectively; then according to the formula , respectively calculated ~ are: 0.5μW, 0.5μW, 0.2μW, 0.2μW, 0.8μW, 0.8μW, 1.0μW, 1.0μW, 1.5μW and 1.5μW. Then according to ,like 10N / W, and finally get .

[0044] In the above method, when calculating the active damping compensation force, the deviation analysis between the actual receiving power of the second satellite and the preset reference receiving power in the past preset time period is introduced, and the deviation between the actual receiving power of the second satellite and the preset reference receiving power is used. Accurately quantify the power deviation at each sampling moment, and then By integrating the deviation within the time period and combining it with the compensation gain coefficient, it is possible to effectively capture the low-frequency power fluctuations caused by directivity slow drift in inter-satellite laser communications. The generated active damping compensation force can correct the beam pointing deviation in a targeted manner, and compensate for the slow drift in a closed-loop manner from the perspective of cross-satellite power feedback. In conjunction with local vibration suppression, it can broaden the link stability control frequency band, reduce the received power jitter and bit error risk, and improve the stability and reliability of inter-satellite laser communications under ultra-long-distance dynamic links.

[0045] Optionally, the preset compensation gain coefficient is determined by the following formula: (6) in, is the maximum output force of the active damper; is the preset reference receiving power, is the minimum receiving power threshold for normal decoding of the second satellite.

[0046] Specifically, the preset compensation gain coefficient in formula (6) is It is the key proportional factor connecting power deviation and compensation force. The value must meet two core design principles: first, the compensation force must be within the physical output range of the active damper; second, the strength of the compensation force should match the reliability requirements of the communication link. To meet the first principle, the maximum output force that the active damper can generate is When the power deviation reaches its theoretical maximum, the compensation force thus calculated should not exceed The maximum value of the power deviation occurs at the moment when the received power drops to the minimum decodable threshold , at which point the deviation is To satisfy the second principle, the system design should be such that when the received power is at the decoding threshold, the compensation force can reach the maximum value, thus providing the strongest correction for the beam pointing.

[0047] In combination with the above two principles, in the limit case, the following should be satisfied: To enable the system to provide the maximum correction capability in the critical state, the inequality is usually taken as equality, thus solving the optimal value of the compensation gain coefficient as: That is, formula (6); this formula is used to reasonably set the compensation gain, ensuring that the compensation force is within the output range of the active damper, while taking into account the reliability of the communication link; wherein, represents the maximum output force of the active damper, which is a parameter determined by the performance of the active damper itself, representing the upper limit of the force output of the active damper; is the preset reference received power, which is the expected power level reached by the second satellite receiving the laser signal; is the minimum received power threshold at which the second satellite can normally decode the laser signal, that is, when the received power is not lower than this value, the second satellite can effectively identify and decode the signal.

[0048] By utilizing the correlation between the maximum output force of the active damper and the power-related parameters (the difference between the preset reference received power and the normal decoding minimum power threshold), the preset compensation gain coefficient is reasonably determined, so that in subsequent calculation of the active damper compensation force based on the received power deviation, the output capability of the active damper and the signal reception requirements of the satellite can be adapted, ensuring that the calculation of the compensation force not only meets the functions of correcting the beam pointing and stabilizing the received power, but also is within the physical output range of the active damper, providing reasonable and feasible parameter support for the stable control of the inter-satellite laser communication link.

[0049] Optionally, based on the active damper control force and the active damper compensation force, the operation of determining the total active damper control force includes: high-pass filtering the active damper control force to obtain a high-frequency component higher than a preset cutoff frequency; low-pass filtering the active damper compensation force to obtain a low-frequency component lower than a preset cutoff frequency; and synthesizing the high-frequency component and the low-frequency component to obtain the total active damper control force.

[0050] Specifically, when performing the operation of determining the total active damping control force based on the active damping control force and the active damping compensation force, the active damping control force is first subjected to high-pass filtering. The preset cutoff frequency of the high-pass filtering is a frequency division threshold preset by the system. The high-frequency component of the active damping control force with a frequency higher than the cutoff frequency can be separated through filtering. This high-frequency component is mainly used to offset the disturbance caused by the high-frequency vibration of the satellite optical communication module; secondly, the active damping compensation force is subjected to low-pass filtering. Also based on the preset cutoff frequency, the low-frequency component of the active damping compensation force with a frequency lower than the cutoff frequency is separated. This low-frequency component is mainly used to correct the low-frequency offset caused by the slow drift of the directivity of the satellite optical communication module; finally, the high-frequency component obtained by filtering is synthesized with the low-frequency component to form the total active damping control force.

[0051] Through the above-mentioned frequency division processing and synthesis operations, the high-frequency suppression effect of the active damping control force and the low-frequency compensation effect of the active damping compensation force can correspond to disturbances in different frequency bands respectively, so that the two can cooperate in the control frequency band to avoid mutual interference, thereby more accurately suppressing the broadband vibration and offset of the satellite optical communication module and ensuring the stability of the inter-satellite laser communication link.

[0052] Optionally, the preset cutoff frequency is determined by the following formula: (7) in, is the preset cutoff frequency, It is the highest disturbance frequency in the satellite platform vibration spectrum.

[0053] Specifically, in order to coordinate the integration of high-frequency vibration suppression and low-frequency slow drift compensation and avoid frequency band conflicts between the two control actions, the active damping control force needs to be adjusted. and active damping compensation force Perform frequency domain separation. This design relies on a key frequency domain division parameter, namely the preset cutoff frequency The selection of this frequency must follow a core principle: it should be able to effectively separate the high-frequency vibration of the satellite platform and the low-frequency slow drift of the pointing system. The vibration energy of the satellite platform is usually concentrated at its highest disturbance frequency. According to signal processing and control system theory, in order to avoid aliasing and ensure the stability margin of each control loop, the cutoff frequency is usually set to 1 / 2 of the highest frequency of the filtered signal. This value conforms to the basic spirit of the Nyquist sampling theorem and can provide a safe transition band for filtering. Therefore, the cutoff frequency is given by the formula Determine, that is, formula (7). This formula is used to determine the cutoff frequency of the filter to achieve the frequency band separation of the control force and the compensation force; is the highest disturbance frequency in the satellite platform vibration spectrum. Based on this, the high-frequency active damping control force will be used to suppress The vibration components above, and the low-frequency active damping compensation force is used to correct The following slow drift clarifies the division of labor and collaboration boundaries of the dual closed loops in the frequency domain.

[0054] The cut-off frequency determined by the above method can reasonably divide the high-frequency component of the active damping control force (higher than ) and the low-frequency component of the active damping compensation force (below ), so that the high-pass filtering and low-pass filtering operations can accurately separate the control quantities in different frequency bands according to this frequency threshold, thereby providing a reasonable and adaptive frequency division basis for the subsequent synthesis of the total active damping control force and the effective suppression of the broadband vibration of the satellite platform, ensuring the orderly implementation of the stable control strategy of the inter-satellite laser communication link.

[0055] Optionally, the high-pass filter transfer function for: (8) The transfer function of the low-pass filter is for: (9) Where s is a complex frequency variable; is the cutoff angular frequency, satisfying , is the preset cutoff frequency; Q is the quality factor, which is .

[0056] Specifically, in order to achieve the frequency domain separation defined by formula (7) in engineering, it is necessary to construct a filter with a sharp roll-off characteristic. This application uses a second-order Butterworth filter because it has the most flat amplitude response in the passband and can provide good phase linearity, which is a standard choice in engineering practice. The design of the filter is centered on its transfer function. For high-pass filtering, its role is to extract the active damping control force above the cutoff frequency The high frequency components of the . Its standard transfer function for: ; For low-pass filtering, its function is to extract the active damping compensation force below the cutoff frequency The low-frequency component of its standard transfer function is for: ; That is, formulas (8) and (9).

[0057] This set of formulas is the second-order filter transfer function, which is used to achieve frequency band separation and synthesis of control force and compensation force; where s is a complex frequency variable used for Laplace domain representation; is the cutoff angular frequency, which is the same as the cutoff frequency relationship satisfaction , which is the basic relationship between frequency domain and complex frequency domain conversion; is the quality factor, which is the key parameter that determines the shape of the filter frequency response. For the Butterworth filter, its design goal is the maximum flatness of the passband, corresponding to Value , in order to realize the Butterworth filter characteristics and ensure the passband flatness and transition band steepness.

[0058] Through the above methods, with the help of the settings of these transfer functions and related parameters, the mathematical models of high-pass filtering and low-pass filtering can be accurately constructed in the complex frequency domain, and the high-frequency components of the active damping control force and the low-frequency components of the active damping compensation force can be effectively separated, providing an accurate frequency band division basis for the subsequent synthesis of the total active damping control force, and ensuring the accuracy of vibration suppression and compensation control in inter-satellite laser communications.

[0059] Therefore, according to the first aspect of this embodiment, the present application achieves the coordinated optimization of broadband vibration suppression of the satellite platform and ultra-long-distance beam slow drift compensation by integrating a dual closed-loop mechanism of local vibration sensing and cross-satellite power feedback, thereby ensuring the link stability of inter-satellite laser communication and effectively avoiding the risk of received power jitter and bit errors. This solves the technical problem in the prior art that in ultra-long-distance dynamic links, the vibration of the satellite platform itself can induce beam pointing instability, resulting in insufficient link stability of inter-satellite laser communication, leading to received power jitter and even bit errors during laser signal transmission.

[0060] In addition, reference Figure 1 As shown, according to a second aspect of this embodiment, a storage medium is provided, wherein the storage medium includes a stored program, wherein when the program is run, a processor executes any one of the above methods.

[0061] It should be noted that for the aforementioned method embodiments, for simplicity of description, they are all expressed as a series of action combinations. However, those skilled in the art should be aware that the present invention is not limited by the order of the actions described, because according to the present invention, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in this specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present invention.

[0062] Through the description of the above embodiments, those skilled in the art will clearly understand that the methods according to the above embodiments can be implemented using software plus the necessary general-purpose hardware platform. Of course, hardware can also be used, but in many cases the former is a more preferred embodiment. Based on this understanding, the technical solution of the present invention, or the portion that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, or optical disk) and includes a number of instructions for enabling a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in various embodiments of the present invention.

[0063] Example 2 This embodiment provides a stable inter-satellite laser communication device, corresponding to the method according to Embodiment 1. The inter-satellite laser communication device includes a displacement sensor, an optical communication module, a processor, and an active damper. The processor includes: a vibration detection module for determining vibration data of the optical communication module of a first satellite using the displacement sensor during a current control cycle; wherein the first satellite is a satellite acting as a transmitter during the laser communication process, the optical communication module includes a laser transmitter and a laser receiver, and the vibration data includes vibration displacement and vibration velocity; a first calculation module for calculating an active damping control force for offsetting vibration based on the vibration data; a second calculation module for calculating an active damping compensation force based on the actual received power of a second satellite over a preset time period and a preset reference received power; wherein the second satellite is a satellite acting as a receiver during the laser communication process; a control force determination module for determining a total active damping control force based on the active damping control force and the active damping compensation force; and a driving module for driving the active damper to apply a corresponding offsetting force to the optical communication module based on the total active damping control force.

[0064] Optionally, the operation of calculating the active damping control force for offsetting the vibration based on the vibration data includes: calculating the active damping control force for offsetting the vibration based on the vibration data using the following formula: (1) (2) (3) is the active damping control force at time t; is the displacement feedback gain; is the speed feedback gain; is the vibration displacement of the optical communication module at time t; is the vibration speed of the optical communication module at time t; is the equivalent mass of the optical communication module; is the equivalent stiffness, satisfying , is the inherent stiffness coefficient of the optical communication module support structure; c is the inherent damping coefficient of the optical communication module support structure; The highest disturbance frequency suppressed by the system design, satisfying , is the highest disturbance frequency in the vibration spectrum of the first satellite; is the optimal damping ratio, satisfying , is the equivalent damping, .

[0065] Optionally, the operation of calculating the active damping compensation force based on the actual received power of the second satellite and the preset reference received power within the past preset time period includes: calculating the active damping compensation force based on the actual received power of the second satellite and the preset reference received power within the past preset time period using the following formula: (4) (5) in, is the active damping compensation force at time t; is the preset compensation gain coefficient; N is the total number of sampling moments in the past preset time period; is the absolute value of the received power deviation at the i-th sampling moment; is the instantaneous received power value measured by the second satellite at the i-th sampling moment; Represents the sampling time sequence, satisfying ,and For the current moment; is the preset reference receive power.

[0066] Optionally, the preset compensation gain coefficient is determined by the following formula: (6) in, is the maximum output force of the active damper; is the preset reference receiving power, is the minimum receiving power threshold for normal decoding of the second satellite.

[0067] Optionally, the operation of determining the total active damping control force based on the active damping control force and the active damping compensation force includes: high-pass filtering the active damping control force to obtain a high-frequency component higher than a preset cutoff frequency; low-pass filtering the active damping compensation force to obtain a low-frequency component lower than a preset cutoff frequency; and synthesizing the high-frequency component and the low-frequency component to obtain the total active damping control force.

[0068] Optionally, the preset cutoff frequency is determined by the following formula: (7) in, is the preset cutoff frequency, It is the highest disturbance frequency in the satellite platform vibration spectrum.

[0069] Optionally, the high-pass filter transfer function for: (8) The transfer function of the low-pass filter is for: (9) Where s is a complex frequency variable; is the cutoff angular frequency, satisfying , is the preset cutoff frequency; Q is the quality factor, which is .

[0070] Therefore, according to this embodiment, by integrating a dual closed-loop mechanism of local vibration sensing and cross-satellite power feedback, the coordinated optimization of broadband vibration suppression of the satellite platform and ultra-long-distance beam drift compensation is achieved, ensuring the link stability of inter-satellite laser communications and effectively avoiding the risk of received power jitter and bit errors. This solves the technical problem in the prior art that in ultra-long-distance dynamic links, the vibration of the satellite platform itself can induce beam pointing instability, resulting in insufficient link stability in inter-satellite laser communications, and causing received power jitter and even bit errors during laser signal transmission.

[0071] Example 3 Figure 4 The inter-satellite laser communication device for maintaining stability according to this embodiment is shown, and the inter-satellite laser communication device corresponds to the method according to embodiment 1. Figure 4As shown, the inter-satellite laser communication device includes: a processor 410; and a memory 420, which is connected to the processor 410 and is used to provide the processor 410 with instructions for processing the following processing steps: in a current control cycle, using a displacement sensor to determine the vibration data of the optical communication module of the first satellite; wherein the first satellite is a satellite serving as a transmitter in the laser communication process, the optical communication module includes a laser transmitter and a laser receiver, and the vibration data includes vibration displacement and vibration velocity; based on the vibration data, calculating an active damping control force for offsetting the vibration; calculating an active damping compensation force based on the actual receiving power and the preset reference receiving power of the second satellite in the past preset time period; wherein the second satellite is a satellite serving as a receiver in the laser communication process; based on the active damping control force and the active damping compensation force, determining a total active damping control force; and according to the total active damping control force, driving the active damper to apply a corresponding offsetting force to the optical communication module.

[0072] Optionally, the operation of calculating the active damping control force for offsetting the vibration based on the vibration data includes: calculating the active damping control force for offsetting the vibration based on the vibration data using the following formula: (1) (2) (3) in, is the active damping control force at time t; is the displacement feedback gain; is the speed feedback gain; is the vibration displacement of the optical communication module at time t; is the vibration speed of the optical communication module at time t; is the equivalent mass of the optical communication module; is the equivalent stiffness, satisfying , is the inherent stiffness coefficient of the optical communication module support structure; c is the inherent damping coefficient of the optical communication module support structure; The highest disturbance frequency suppressed by the system design, satisfying , is the highest disturbance frequency in the vibration spectrum of the first satellite; is the optimal damping ratio, satisfying , is the equivalent damping, .

[0073] Optionally, the operation of calculating the active damping compensation force based on the actual received power of the second satellite and the preset reference received power within the past preset time period includes: calculating the active damping compensation force based on the actual received power of the second satellite and the preset reference received power within the past preset time period using the following formula: (4) (5) in, is the active damping compensation force at time t; is the preset compensation gain coefficient; N is the total number of sampling moments in the past preset time period; is the absolute value of the received power deviation at the i-th sampling moment; is the instantaneous received power value measured by the second satellite at the i-th sampling moment; Represents the sampling time sequence, satisfying ,and For the current moment; is the preset reference receive power.

[0074] Optionally, the preset compensation gain coefficient is determined by the following formula: (6) in, is the maximum output force of the active damper; is the preset reference receiving power, is the minimum receiving power threshold for normal decoding of the second satellite.

[0075] Optionally, the operation of determining the total active damping control force based on the active damping control force and the active damping compensation force includes: high-pass filtering the active damping control force to obtain a high-frequency component higher than a preset cutoff frequency; low-pass filtering the active damping compensation force to obtain a low-frequency component lower than a preset cutoff frequency; and synthesizing the high-frequency component and the low-frequency component to obtain the total active damping control force.

[0076] Optionally, the preset cutoff frequency is determined by the following formula: (7) in, is the preset cutoff frequency, It is the highest disturbance frequency in the satellite platform vibration spectrum.

[0077] Optionally, the high-pass filter transfer function for: (8) The transfer function of the low-pass filter is for: (9) Where s is a complex frequency variable; is the cutoff angular frequency, satisfying , is the preset cutoff frequency; Q is the quality factor, which is .

[0078] Therefore, according to this embodiment, by integrating a dual closed-loop mechanism of local vibration sensing and cross-satellite power feedback, the coordinated optimization of broadband vibration suppression of the satellite platform and ultra-long-distance beam drift compensation is achieved, ensuring the link stability of inter-satellite laser communications and effectively avoiding the risk of received power jitter and bit errors. This solves the technical problem in the prior art that in ultra-long-distance dynamic links, the vibration of the satellite platform itself can induce beam pointing instability, resulting in insufficient link stability in inter-satellite laser communications, and causing received power jitter and even bit errors during laser signal transmission.

[0079] The serial numbers of the above embodiments of the present invention are for description only and do not represent the advantages or disadvantages of the embodiments.

[0080] In the above embodiments of the present invention, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0081] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0082] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0083] In addition, the functional units in the various embodiments of the present invention may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0084] 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 in other words, the part that contributes to the prior art 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 number of instructions to make a computer device (which can be a personal computer, a server or a network device, etc.) execute all or part of the steps of the methods described in various embodiments of the present application. The aforementioned storage medium includes: a U disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a mobile hard disk, a magnetic disk or an optical disk, and various media that can store program codes.

[0085] The above is only the preferred embodiment of the present application, and it should be pointed out that for those skilled in the art, without departing from the principles of the present application, a number of improvements and refinements can be made, and these improvements and refinements should be considered as the protection scope of the present application.

Claims

1. A method for maintaining stable inter-satellite laser communication, characterized in that: include: Determining, during a current control cycle, vibration data of an optical communication module of a first satellite using a displacement sensor; wherein the first satellite is a satellite serving as a transmitter in a laser communication process, the optical communication module includes a laser transmitter and a laser receiver, and the vibration data includes vibration displacement and vibration velocity; calculating an active damping control force for counteracting the vibration based on the vibration data; Calculating an active damping compensation force based on an actual received power of a second satellite and a preset reference received power within a preset time period; wherein the second satellite is a satellite that serves as a receiver during the laser communication process; determining a total active damping control force based on the active damping control force and the active damping compensation force; and According to the total active damping control force, the active damper is driven to apply a corresponding counteracting force to the optical communication module.

2. The method according to claim 1, characterized in that The operation of calculating the active damping control force for counteracting the vibration based on the vibration data includes: Based on the vibration data, the active damping control force for counteracting the vibration is calculated using the following formula: （1） （2） （3） in, is the active damping control force at time t; is the displacement feedback gain; is the speed feedback gain; is the vibration displacement of the optical communication module at time t; is the vibration speed of the optical communication module at time t; is the equivalent mass of the optical communication module; is the equivalent stiffness, satisfying , is the inherent stiffness coefficient of the optical communication module support structure; c is the inherent damping coefficient of the optical communication module support structure; The highest disturbance frequency suppressed by the system design, satisfying , is the highest disturbance frequency in the vibration spectrum of the first satellite; is the optimal damping ratio, satisfying , is the equivalent damping, .

3. The method according to claim 1, characterized in that The operation of calculating the active damping compensation force based on the actual received power of the second satellite and the preset reference received power within the past preset time period includes: Based on the actual received power of the second satellite in the past preset time period and the preset reference received power, the active damping compensation force is calculated using the following formula: （4） （5） in, is the active damping compensation force at time t; is the preset compensation gain coefficient; N is the total number of sampling moments in the past preset time period; is the absolute value of the received power deviation at the i-th sampling moment; is the instantaneous received power value measured by the second satellite at the i-th sampling moment; Represents the sampling time sequence, satisfying ,and For the current moment; is the preset reference receive power.

4. The method according to claim 3, characterized in that The preset compensation gain coefficient is determined by the following formula: （6） in, is the maximum output force of the active damper; is the preset reference receiving power, is the minimum receiving power threshold at which the second satellite can be decoded normally.

5. The method according to claim 1, wherein The operation of determining a total active damping control force based on the active damping control force and the active damping compensation force includes: Performing high-pass filtering on the active damping control force to obtain a high-frequency component higher than a preset cutoff frequency; Performing low-pass filtering on the active damping compensation force to obtain a low-frequency component lower than the preset cutoff frequency; and The high-frequency component and the low-frequency component are synthesized to obtain a total active damping control force.

6. The method according to claim 5, characterized in that The preset cutoff frequency is determined by the following formula: （7） in, is the preset cutoff frequency, It is the highest disturbance frequency in the satellite platform vibration spectrum.

7. The method according to claim 5 or 6, characterized in that: The transfer function of the high-pass filter is for: （8） The transfer function of the low-pass filter is for: （9） Where s is a complex frequency variable; is the cutoff angular frequency, satisfying , is the preset cutoff frequency; Q is the quality factor, which is .

8. A storage medium, characterized in that: The storage medium includes a stored program, wherein when the program is executed, the processor executes the method according to any one of claims 1 to 7.

9. A stable inter-satellite laser communication device, characterized in that: The inter-satellite laser communication device includes a displacement sensor, an optical communication module, a processor and an active damper, wherein the processor includes: a vibration detection module, configured to determine, during a current control cycle, vibration data of an optical communication module of a first satellite using a displacement sensor; wherein the first satellite is a satellite acting as a transmitter during laser communication, the optical communication module includes a laser transmitter and a laser receiver, and the vibration data includes vibration displacement and vibration velocity; a first calculation module, configured to calculate an active damping control force for counteracting vibration based on the vibration data; a second calculation module, configured to calculate an active damping compensation force based on an actual received power of a second satellite and a preset reference received power within a preset time period; wherein the second satellite is a satellite serving as a receiver during the laser communication process; a control force determination module, configured to determine a total active damping control force based on the active damping control force and the active damping compensation force; and A driving module is configured to drive an active damper to apply a corresponding counteracting force to the optical communication module according to the total active damping control force.

10. A stable inter-satellite laser communication device, characterized in that: include: processor; as well as A memory, connected to the processor, configured to provide the processor with instructions for processing the following processing steps: Determining, during a current control cycle, vibration data of an optical communication module of a first satellite using a displacement sensor; wherein the first satellite is a satellite serving as a transmitter in a laser communication process, the optical communication module includes a laser transmitter and a laser receiver, and the vibration data includes vibration displacement and vibration velocity; calculating an active damping control force for counteracting the vibration based on the vibration data; Calculating an active damping compensation force based on an actual received power of a second satellite and a preset reference received power within a preset time period; wherein the second satellite is a satellite that serves as a receiver during the laser communication process; determining a total active damping control force based on the active damping control force and the active damping compensation force; and According to the total active damping control force, the active damper is driven to apply a corresponding counteracting force to the optical communication module.

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