A method and device for maintaining stable inter-satellite laser communication and a storage medium

Abstract

The application discloses a kind of stable inter-satellite laser communication method, device and storage medium, belong to satellite communication field.The method comprises: in current control period, the vibration displacement and vibration velocity of the light communication module of the first satellite as the transmitting party are determined using displacement sensor, and active damping control force is calculated accordingly;According to the actual receiving power of the second satellite as the receiving party in the past preset time period and the preset reference receiving power, the active damping compensation force is calculated;Total active damping control force is determined based on active damping control force and active damping compensation force;According to total active damping control force, drive active damper to apply corresponding counterforce to light communication module.By fusing the double closed-loop mechanism of local vibration perception and cross-satellite power feedback, the collaborative optimization of satellite platform wide-frequency vibration suppression and super-long-distance beam slow-drift compensation is realized, the link stability of inter-satellite laser communication is guaranteed, and the receiving power jitter and error code risk are effectively avoided.

Description

Technical Field

[0001] This application relates to the field of satellite communication technology, and in particular to a stable inter-satellite laser communication method, apparatus and storage medium. Background Technology

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

[0003] For example, publication number CN119966511A, entitled "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, and a high-speed optical transceiver unit, an optical switch unit, an optical transmitting branch unit, and an optical receiving 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 transmitting branch unit includes n optical transmitting branches; and the optical receiving branch unit includes n optical receiving branches. This invention has high integration, eliminates the need for multiple photoelectric conversions, and ensures high link reliability of the communication system.

[0004] For example, publication number CN115941042A, entitled "An Inter-Satellite Laser Communication System," includes: a signal transmitter located on the satellite end, employing an independent laser source and transmitting mirror to emit a laser beam of a set wavelength, wherein the laser beam is modulated to generate a downlink signal; an optical receiving antenna located on the ground end, wherein the downlink signal light emitted from the satellite is received by the optical receiving antenna after being transmitted through an atmospheric channel and converged to generate a distorted wavefront; a deformable mirror, which changes the surface shape of the mirror in real time according to a control voltage; a beam splitter, used to separate the beacon light and the signal light from the corrected distorted wavefront; and a data processing module, which receives the beacon light, detects the disturbance information of the light wavefront, processes it into corresponding control signals, and controls the deformation of various parts of the deformable mirror through the control signals to compensate and correct the distorted wavefront.

[0005] However, in ultra-long-distance (typically exceeding 10,000 kilometers) dynamic link environments where the transmitting and receiving satellites are in high-speed relative motion, this technology faces severe challenges: the satellite communication link distance is extremely vast, 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 parts such as attitude adjustment mechanisms and solar panel drive devices) is transmitted to the optical communication module located on the satellite, causing directional jitter in the transmitted beam. The low stability of the laser link leads to jitter in the received power or even bit errors during laser signal transmission.

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

[0007] The embodiments of this disclosure provide a stable inter-satellite laser communication method, apparatus, and storage medium to at least solve the technical problem in the prior art where, in ultra-long-distance dynamic links, the vibration of the satellite itself can induce beam pointing instability, resulting in insufficient link stability of inter-satellite laser communication and causing received power jitter or even bit errors during laser signal transmission.

[0008] According to one aspect 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 during a current control cycle; 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; calculating an active damping control force to counteract vibration based on the vibration data; calculating an active damping compensation force based on the actual received power of a second satellite and a preset reference received power over a preset time period; wherein the second satellite is a satellite acting as a receiver during laser communication; 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 counteracting force to the optical communication module based on the total active damping control force.

[0009] According to another aspect of the present disclosure, a storage medium is also provided, the storage medium including a stored program, wherein, when the program is executed, a processor performs any of the methods described above.

[0010] According to another aspect of the present disclosure, a stable inter-satellite laser communication device is also provided. 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, used to determine vibration data of the optical communication module of a first satellite using the displacement sensor within the current control cycle; wherein the first satellite is the 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, used to calculate an active damping control force to counteract vibration based on the vibration data; a second calculation module, used to calculate an active damping compensation force based on the actual received power of a second satellite and a preset reference received power over a preset time period; wherein the second satellite is the receiver during laser communication; a control force determination module, used 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, used to drive the active damper to apply a corresponding counteracting force to the optical communication module according to the total active damping control force.

[0011] According to another aspect of the present disclosure, a stable inter-satellite laser communication device is also provided, comprising: a processor; and a memory connected to the processor, for providing the processor with instructions to process the following steps: determining vibration data of an optical communication module of a first satellite using a displacement sensor during a current control cycle; 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; calculating an active damping control force to counteract vibration based on the vibration data; calculating an active damping compensation force based on the actual received power of a second satellite and a preset reference received power over a preset time period; wherein the second satellite is a satellite acting as a receiver during laser communication; 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 counteracting force to the optical communication module based on the total active damping control force.

[0012] This application addresses the core challenge of beam instability caused by satellite platform vibration in ultra-long-range dynamic links, proposing a stable inter-satellite laser communication method. Within the current control cycle, this method synchronously determines the vibration displacement and velocity of the optical communication module of the first satellite using displacement sensors, providing a real-time sensing basis for subsequent vibration control. Then, based on the vibration displacement and velocity, an active damping control force is dynamically calculated to ensure that high-frequency vibration components are canceled in real time. Next, based on the actual received power of the second satellite and a preset reference received power over a past preset time period, an active damping compensation force is generated to correct directional drift and ensure closed-loop compensation for low-frequency beam offset. Furthermore, the active damping control force and the active damping compensation force are synergistically integrated to form a total active damping control force, establishing a decision-making basis for subsequent precise mechanical cancellation. Finally, based on the total active damping control force, the active damper is driven to apply a corresponding cancellation force to the optical communication module to achieve active stabilization of the beam direction across the entire frequency band. This application achieves synergistic optimization of wideband vibration suppression and ultra-long-distance beam drift compensation for satellite platforms through a dual closed-loop mechanism integrating local vibration sensing and cross-satellite power feedback. This ensures the stability of inter-satellite laser communication links and effectively avoids the risks of received power jitter and bit errors. It thus solves the technical problem in existing technologies where vibrations of the satellite platform itself can induce beam pointing instability in ultra-long-distance dynamic links, leading to insufficient link stability in inter-satellite laser communication and resulting in received power jitter or even bit errors during laser signal transmission. Attached Figure Description

[0013] The accompanying drawings, which are included to provide a further understanding of this disclosure and form part of this application, illustrate exemplary embodiments of this disclosure and are used to explain this disclosure, but do not constitute an undue limitation of this disclosure. In the drawings:

[0014] Figure 1 This is a schematic diagram of the hardware architecture of the satellite system according to the first aspect of Embodiment 1 of this application;

[0015] Figure 2 This 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 Embodiment 1 of this application;

[0016] Figure 3 This is a flowchart of a method for maintaining stable inter-satellite laser communication according to the first aspect of Embodiment 1 of this application;

[0017] Figure 4 This is a schematic diagram of a stable inter-satellite laser communication device according to Embodiment 3 of this application. Detailed Implementation

[0018] To enable those skilled in the art to better understand the technical solutions of this disclosure, the technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of this disclosure, and not all embodiments. Based on the embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this disclosure.

[0019] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this disclosure described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0020] Example 1

[0021] 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 in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0022] Figure 1 A schematic diagram of the satellite system's hardware architecture is shown. (Reference) Figure 1 As shown, the satellite system includes a first satellite S1 and a second satellite S2, which can communicate via a laser link. The first satellite acts as the transmitter during laser communication, and the second satellite acts as the receiver.

[0023] Figure 2 This is a schematic diagram of an optical communication device with active damping deployed on a satellite according to an embodiment of this application. (Reference) 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 detects the vibration state of the optical communication module in real time, determines its vibration displacement and velocity based on this state, and sends these values ​​to the processor. The optical communication module receives feedback information from the satellite at the communication endpoint via the laser receiver and sends this feedback information to the processor through the communication circuit. The processor generates an adjustment control signal for the active damper based on the vibration displacement and velocity determined by the displacement sensor and the feedback information transmitted by the optical communication module. The active damper responds to the adjustment control signal output by the processor by applying a counteracting force opposite to the vibration direction to the optical communication module to suppress its vibration and ensure the stability of the inter-satellite laser communication link.

[0024] Under the aforementioned operating environment, according to the first aspect of this embodiment, a method for maintaining stable inter-satellite laser communication is provided, the method comprising: Figure 2 The processor implementation shown. Figure 3 A flowchart illustrating the method is shown below. (Refer to...) Figure 3 As shown, the method includes:

[0025] S302: During the current control cycle, the vibration data of the optical communication module of the first satellite is determined using a displacement sensor; wherein, the first satellite is the satellite that acts as the 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;

[0026] S304: Calculate the active damping control force to counteract vibration based on vibration data;

[0027] S306: Calculate the active damping compensation force based on the actual received power of the second satellite and the preset reference received power within a preset time period; where the second satellite is the satellite that acts as the receiver in the laser communication process;

[0028] S308: Determine the total active damping control force based on the active damping control force and the active damping compensation force; and

[0029] S310: Based on the total active damping control force, drive the active damper to apply a corresponding counteracting force to the optical communication module.

[0030] Specifically, in combination Figure 2As shown, in a scenario of inter-satellite laser communication, when the first satellite, acting as the transmitter of a laser signal, establishes a communication link with other satellites (i.e., the receiver satellite), the vibration data of the optical communication module on the first satellite is determined in real time using a displacement sensor within the current control cycle (corresponding to step S302). The current control cycle refers to a specific time window, strictly defined by the satellite system clock, that is ongoing and includes a preset number of communication rounds (e.g., 10 rounds). The communication time between satellites is divided into a series of continuous, non-overlapping control cycles of this type. For example, if one communication round is 10 milliseconds, the fixed duration of each control cycle is 100 milliseconds. If the communication time between satellites is divided into a continuous periodic sequence, then 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, including both a laser transmitter for emitting laser light and a laser receiver for receiving signals from other satellites. Displacement sensors can directly measure the vibration displacement of the optical communication module and output a "displacement-time" signal, which reflects the distance the optical communication module deviates from its equilibrium position at each moment during vibration. The vibration velocity of the optical communication module can be indirectly and accurately calculated by performing a first-order differential operation on the displacement signal output by the displacement sensor. Obtaining both vibration displacement and velocity provides a fundamental basis for subsequent adjustments to the state of the optical communication module and for maintaining the stability of laser communication.

[0031] Furthermore, based on the vibration data determined by the displacement sensor, namely the vibration displacement and vibration velocity of the optical communication module, the processor calculates the active damping control force used to counteract the vibration (corresponding to step S304). This calculation process aims to determine an optimal counteracting control force vector (including magnitude and direction) to directly counteract the vibration interference currently acting on the optical communication module. By applying this force, the pose fluctuation of the optical communication module can be effectively suppressed, stabilizing it within the target operating range and ensuring that high-frequency vibration components are canceled in real time.

[0032] Next, the processor uses a preset time period (e.g., a length of T milliseconds, or including the most recent N communication rounds) as a time window, collects the actual laser signal power received by the second satellite within this time window, compares and analyzes it with a preset reference received power, and calculates the active damping compensation force (corresponding to step S306). The purpose of this compensation force is to construct a low-frequency closed-loop correction circuit for beam directivity drift, in order to compensate for low-frequency or even quasi-static beam offset (i.e., drift) caused by factors such as thermal deformation and orbital disturbances.

[0033] It should be noted that this application specifies the communication protocol and message structure of the satellite to ensure the real-time performance and reliability of the power feedback data (i.e., the actual laser signal power received by the receiver). Specifically, in each bidirectional or handshake communication, the second satellite (receiver) measures the actual laser signal power received in the previous communication round, and then encapsulates the measurement result as a data field into the response message or 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 actual laser signal power received by the second satellite. This provides a stable and reliable data source for calculating the aforementioned active damping compensation force.

[0034] Furthermore, the processor collaboratively integrates the active damping control force and the active damping compensation force to form the total active damping control force (corresponding to step S308). This total active damping control force considers both the force to counteract vibration directly derived from vibration data and the compensation force finely adjusted according to the actual received power difference, which can more comprehensively address the vibration problem of the optical communication module and provide accurate force parameters for subsequent control of the active damper.

[0035] Finally, based on the total active damping control force, the processor sends a control command to the active damper, driving the active damper to apply a corresponding counteracting force to the optical communication module of the first satellite according to 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 solving the problem of beam pointing instability induced by platform micro-vibrations in ultra-long-distance dynamic links, and significantly improving the pointing stability capability of the laser link.

[0036] Thus, by integrating local vibration sensing and cross-satellite power feedback into a dual closed-loop mechanism, the coordinated optimization of satellite platform broadband vibration suppression and ultra-long-distance beam drift compensation is achieved, ensuring the link stability of inter-satellite laser communication and effectively avoiding the risks of received power jitter and bit error.

[0037] As described in the background section, in ultra-long-distance (typically exceeding 10,000 kilometers) dynamic link environments where the transmitting and receiving satellites are in high-speed relative motion, the satellite communication link distance is extremely vast, 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 attitude adjustment mechanisms and solar panel drive devices) is transmitted to the optical communication module located on the satellite, causing directional jitter in the transmitted beam. This results in low stability of the laser link, leading to jitter in the received power or even bit errors during laser signal transmission.

[0038] In view of this, this application synchronously determines the vibration displacement and vibration velocity of the optical communication module of the first satellite through a displacement sensor within the current control cycle, providing a real-time sensing basis for subsequent vibration control. Then, based on the vibration displacement and vibration velocity, the active damping control force is dynamically calculated to ensure that high-frequency vibration components are canceled in real time. Secondly, based on the actual received power of the second satellite and the preset reference received power over a preset time period, an active damping compensation force is generated to correct directional drift and ensure closed-loop compensation for low-frequency beam offset. Thirdly, the active damping control force and the active damping compensation force are synergistically integrated to form a total active damping control force, establishing a decision-making basis for subsequent precise mechanical cancellation. Finally, based on the total active damping control force, the active damper is driven to apply a corresponding cancellation force to the optical communication module to achieve active stabilization of the beam direction across the entire frequency band. This application, through a dual closed-loop mechanism integrating local vibration sensing and cross-satellite power feedback, achieves synergistic optimization of wideband vibration suppression and ultra-long-distance beam drift compensation on the satellite platform, ensuring the stability of the inter-satellite laser communication link and effectively avoiding the risks of received power jitter and bit errors. This solves the technical problem in existing technologies where vibrations of the satellite platform itself can induce beam pointing instability in ultra-long-distance dynamic links, resulting in insufficient link stability for inter-satellite laser communication and causing jitter or even bit errors in the received power during laser signal transmission.

[0039] Optionally, the operation of calculating the active damping control force to counteract vibration based on vibration data includes: calculating the active damping control force to counteract vibration based on vibration data using the following formula: (1)

[0040] (2)

[0041] (3)

[0042] in, The active damping control force at time t; For displacement feedback gain; For speed feedback gain; Let be the vibration displacement of the optical communication module at time t; Let be the vibration velocity of the optical communication module at time t; The equivalent mass of the optical communication module; For equivalent stiffness, satisfy , denoted as , and c is the inherent stiffness coefficient of the optical communication module support structure; , and c is the inherent damping coefficient of the optical communication module support structure. The highest disturbance frequency to be suppressed for the system design must meet the following requirements. , This is the highest disturbance frequency in the vibration spectrum of the first satellite; For the optimal damping ratio, satisfying , For equivalent damping, .

[0043] Specifically, formula (1) can be obtained from the pd control law formula. Formula (2) is derived from the following:

[0044] The vibration dynamics model based on the optical communication module yields the following formula:

[0045] ;

[0046] in, ρ 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), representing the natural stiffness of the mechanical structure; Let be the active damping control force at time t.

[0047] According to formula (1),

[0048] ;

[0049] ;

[0050] make For equivalent damping; This is the equivalent stiffness. The formula can also be converted to:

[0051] ;

[0052] in For equivalent mass, in this invention, it can be taken as... =m.

[0053] Therefore, according to the definition of natural frequency f, we have

[0054] ;

[0055] For the highest disturbance frequency f to be suppressed by the system design max ,have:

[0056] ;

[0057] Therefore:

[0058] ,Right now

[0059] .

[0060] That is, formula (2).

[0061] Formula (2) is based on the stiffness matching principle in vibration control systems and is used to ensure that the system can effectively suppress disturbances at the highest frequency. Wherein, The equivalent mass of the optical communication module reflects the module's inertial characteristics; The highest disturbance frequency to be suppressed by the system design ensures that the control bandwidth covers the vibration spectrum of the satellite platform; The inherent stiffness coefficient of the supporting structure represents the natural stiffness of the mechanical structure.

[0062] For formula (3), it can be derived as follows:

[0063] According to damping ratio The definitions are as follows:

[0064] ;

[0065] For the preset optimal damping ratio ,have:

[0066] ;

[0067] Therefore,

[0068] ;

[0069] Will Substituting, we can further conclude:

[0070] ;

[0071] Furthermore: ;

[0072] This formula, based on optimal damping theory, is used to calculate the velocity feedback gain to achieve rapid dissipation of vibrational energy; where,

[0073] For the optimal damping ratio, satisfying , For equivalent damping, In order to achieve critical damping or overdamped state; and The equivalent mass and equivalent stiffness, respectively, together determine the natural frequency of the system; The inherent damping coefficient of the supporting structure represents the natural damping characteristics of the mechanical structure.

[0074] When calculating the active damping control force used to counteract vibration, it is necessary to derive the calculation using vibration data (including vibration displacement and vibration velocity) from the optical communication module of the first satellite, and then using a series of formulas. Firstly, through... Sure (Displacement feedback gain), and then based on calculate (Speed ​​feedback gain), finally according to the formula: Calculate the active damping control force. This involves the equivalent mass. Equivalent stiffness (satisfy k is the inherent stiffness coefficient of the optical communication module support structure, and the highest disturbance frequency suppressed by the system design. (To be full) , It is the highest disturbance frequency in the vibration spectrum of the first satellite, and also has the optimal damping ratio. By correlating and substituting these parameters into the calculations, the active damping control force is ultimately derived to counteract the disturbances to 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 calculation formula with clear physical meaning, the active damping control force used to counteract the vibration can be obtained. Through the action of this active damping control force, the optical communication module can maintain a stable state, thereby avoiding adverse effects on laser communication caused by satellite vibration and ensuring the stability of the inter-satellite laser communication link.

[0075] For example, suppose we are designing active damping control for the optical communication module of a satellite, with the following parameters: equivalent mass =10kg (total mass of the optical communication module (typically including communication circuits, laser transmitter, laser receiver, and mechanical support structure, etc.)); inherent stiffness coefficient k=100 N / m (the original "hardness" of the mechanical support structure); inherent damping coefficient (The inherent "resistance" of mechanical support structures); the satellite's highest vibration frequency =10 Hz (upper limit of the disturbance frequency to be suppressed); according to the formula Substitute =10 Hz: ≥4000 2 ≈39438 N / m (wherein, 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, we can obtain Finally, suppose at a certain moment: displacement = 0.001m (1 millimeter, the displacement corresponding to the maximum allowable pointing deviation of the optical communication module); vibration velocity =0.01m / s (displacement rate 0.01 m / s), substitute into the formula Among them, the negative sign (" The sign indicates that "the direction of the force is opposite to the direction of vibration," and the magnitude is 46.17N. A force of 46.17N needs to be applied to the optical communication module in the opposite direction of the vibration of the optical communication module to maintain the stability of the optical communication module, avoid the position displacement of the optical communication module caused by satellite vibration, ensure the stability of the optical communication module in the laser communication process, and thus provide support for the stable transmission of laser communication links between satellites.

[0076] Through the above method, the active damping control force calculation method is based on With as the core, combined , The derivation and correlation of parameters integrate the displacement and vibration velocity of the optical communication module into the control logic. By adapting the characteristics of the satellite optical communication module based on physical quantities such as equivalent mass and equivalent stiffness, the system design can ensure the highest disturbance frequency suppressed. The highest disturbance frequency covering the vibration spectrum of the first satellite This achieves effective suppression of satellite broadband vibrations; simultaneously, through the optimal damping ratio and equivalent damping The design optimizes vibration cancellation, enabling real-time and precise generation of active damping control force to quickly counteract displacement and velocity disturbances in the optical communication module caused by satellite vibration. This provides high-frequency vibration suppression assurance for stable beam pointing in inter-satellite laser communication, solidifies the foundation for link stability from the perspective of local vibration perception, and, in conjunction with subsequent compensation mechanisms, helps solve beam instability problems in ultra-long-distance dynamic links, thereby improving the reliability and stability of laser communication links.

[0077] 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 over a preset time period includes: calculating the active damping compensation force using the following formula based on the actual received power of the second satellite and the preset reference received power over a preset time period:

[0078] (4)

[0079] (5)

[0080] in, The active damping compensation force at time t; The preset compensation gain coefficient; N is the total number of sampling times within the preset time period in the past; Let be the absolute value of the received power deviation at the i-th sampling time. The instantaneous received power value of the second satellite at the i-th sampling time; Represents a sequence of sampling times that satisfies ,and The current moment; This is the preset reference receiving power.

[0081] Specifically, to compensate for low-frequency pointing deviations caused by thermal deformation, orbital drift, etc., a closed-loop control system needs to be established: the actual received power fed back by the receiver (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 time is defined as the absolute value of the difference between the actual value and the reference value, in order to eliminate the influence of the deviation direction on the control logic. ;in, Let be the absolute value of the received power deviation at the i-th sampling time. It is the instantaneous received power value actually measured by the second satellite at the i-th sampling time. The preset reference received power is used to calculate the received power deviation value at the i-th sampling time.

[0082] Since directional drift is a low-frequency change, the power deviation over the past N sampling times (a preset time window) needs to be averaged to filter out high-frequency jitter noise and extract a stable drift trend. The average deviation This reflects the average power loss level caused by slow drift in the communication link. 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 units (watts W) to the force domain units (Newtons N). Therefore, the active damping compensation force at time t can be expressed as: Therefore: ; That is, formulas (4) and (5). This set of formulas is used to calculate the active damping compensation force, and to achieve low-frequency compensation for directional drift by averaging the historical received power deviation; among them, The pre-set compensation gain coefficient is used to adjust the compensation level. This represents the total number of times the second satellite's received power was sampled within a previously preset time period, reflecting the length of the time window; Constructing a sampling time sequence that satisfies ,and At the current moment, the power changes over a period of time are reflected by sampling at these different moments.

[0083] When calculating the active damping compensation force, first through This yields the absolute value of the received power deviation at the i-th sampling time, which reflects the degree of deviation between the actual received power and the preset reference received power. Then, according to the formula... The average of the absolute values ​​of the received power deviation over all sampling times within a preset time period is calculated (by...). (Average calculation is performed), then multiplied by a preset compensation gain coefficient. Ultimately, the active damping compensation force is obtained. This is to correct deviations in the beam direction of the satellite's optical communication module caused by various factors, and to ensure the stability of the laser communication link between satellites.

[0084] For example, suppose we need to calculate the active damping compensation force based on the actual received power data of a second satellite over the past 100 milliseconds (a preset time period). Setting: Preset compensation gain coefficient. (These are empirical values ​​and can be adjusted according to actual needs); Total number of sampling times N=10 (sampling once every 10 milliseconds, for a total of 10 sampling times); Preset reference receiving power. =10μW (the power the second satellite should ideally receive). First, data is collected at 10 time points (i.e.,...). The actual received powers were 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... Calculate respectively ~ The values ​​are: 0.5 μW, 0.5 μW, 0.2 μW, 0.2 μW, 0.8 μW, 0.8 μW, 1.0 μW, 1.0 μW, 1.5 μW, and 1.5 μW. Then, according to... ,like 10 N / W, finally obtained .

[0085] Using the above method, when calculating the active damping compensation force, a deviation analysis between the actual received power of the second satellite and the preset reference received power within a preset time period is introduced, utilizing... Precisely quantify the power deviation at each sampling moment, and then... By integrating intra-period deviations and combining them with compensation gain coefficients, low-frequency power fluctuations caused by directional drift in inter-satellite laser communication can be effectively captured. The generated active damping compensation force can specifically correct beam pointing deviations, providing closed-loop compensation for drift 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 risk of received power jitter and bit errors, and improve the stability and reliability of inter-satellite laser communication under ultra-long-distance dynamic links.

[0086] Optionally, the preset compensation gain coefficient is determined by the following formula:

[0087] (6)

[0088] in, This is the maximum output force of the active damper; To preset the reference receiving power, This is the minimum received power threshold required for the second satellite to decode normally.

[0089] Specifically, the preset compensation gain coefficient in formula (6) This is a key proportionality factor connecting power deviation and compensation force. Its value must satisfy 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 satisfy the first principle, let the maximum output force that the active damper can generate be... When the power deviation reaches its theoretical maximum value, the compensation force calculated accordingly should not exceed [a certain value]. The maximum power deviation occurs when the received power drops to the lowest decodeable threshold. At that moment, the deviation is... To satisfy the second principle, the system design should ensure that the compensation force reaches its maximum value when the received power is at the decoding critical point, thereby providing the strongest correction for beam pointing.

[0090] Combining the two principles above, the following should be satisfied in the extreme case: To ensure the system provides maximum correction capability under critical conditions, the inequality is usually equated to equality, thus solving for the optimal value of the compensation gain coefficient: That is, formula (6); this formula is used to reasonably set the compensation gain to ensure that the compensation force is within the output range of the active damper, while also taking into account the reliability of the communication link; among which, This represents the maximum output force of the active damper. This parameter is determined by the performance of the active damper itself and reflects the upper limit of the force output capability of the active damper. The preset reference receiving power is the desired power level achieved by the second satellite in receiving the laser signal; This is the minimum received power threshold at which the second satellite can properly decode laser signals. That is, when the received power is not lower than this value, the second satellite can effectively identify and decode the signal.

[0091] By utilizing the correlation between the maximum output force of the active damper and power-related parameters (the difference between the preset reference received power and the minimum power threshold for normal decoding), the preset compensation gain coefficient can be reasonably determined. This ensures that when calculating the active damping compensation force based on the received power deviation, the output capacity of the active damper and the satellite signal reception requirements can be matched. This guarantees that the calculation of the compensation force not only satisfies the functions of correcting the beam direction and stabilizing the received power, but also falls 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.

[0092] 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: 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 a preset cutoff frequency; and combining the high-frequency component and the low-frequency component to obtain the total active damping control force.

[0093] 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 this high-pass filter is the frequency division threshold preset by the system. Through filtering, the high-frequency components in the active damping control force with frequencies higher than the cutoff frequency can be separated. These high-frequency components are mainly used to offset the disturbances caused by high-frequency vibrations in the satellite optical communication module. Secondly, the active damping compensation force is subjected to low-pass filtering. Again, with the preset cutoff frequency as the reference, the low-frequency components in the active damping compensation force with frequencies lower than the cutoff frequency are separated. These low-frequency components are mainly used to correct the low-frequency offsets caused by directional drift in the satellite optical communication module. Finally, the high-frequency components and low-frequency components obtained after filtering are combined to form the total active damping control force.

[0094] Through the above frequency division 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, achieving synergistic cooperation between the two in the control frequency band, avoiding 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.

[0095] Optionally, the preset cutoff frequency is determined by the following formula:

[0096] (7)

[0097] in, To preset the cutoff frequency, This is the highest disturbance frequency in the vibration spectrum of the satellite platform.

[0098] Specifically, in order to synergistically integrate high-frequency vibration suppression and low-frequency drift compensation, and to avoid frequency band conflicts between the two control actions, the active damping control force needs to be adjusted. and active damping compensation force Frequency domain separation is performed. This design relies on a key frequency domain partitioning parameter, namely the preset cutoff frequency. The selection of this frequency must adhere to a core principle: it should effectively separate the high-frequency vibrations of the satellite platform from the low-frequency drift of the pointing system. The vibrational energy of the satellite platform is typically concentrated at its highest disturbance frequency. The following is an explanation of signal processing and control system theory: To avoid aliasing and ensure the stability margin of each control loop, the cutoff frequency is typically set to half the highest frequency of the signal being filtered. This value conforms to the basic principles of the Nyquist sampling theorem and provides a safe transition band for filtering. Therefore, the cutoff frequency is determined by the formula... This is determined by formula (7). This formula is used to determine the cutoff frequency of the filter, achieving frequency band separation between control and compensation forces; where, This is the highest disturbance frequency in the satellite platform's vibration spectrum. Based on this, high-frequency active damping control forces will be used to suppress... The above vibration components, while the low-frequency active damping compensation force is used to correct them. The following slow drift clarifies the division of labor and cooperation boundaries of the dual closed loops in the frequency domain.

[0099] The cutoff frequency determined using the above method can reasonably divide the high-frequency components (higher than) of the active damping control force. ) and the low-frequency component of the active damping compensation force (below) This allows high-pass and low-pass filtering operations to accurately separate control quantities in different frequency bands based on this frequency threshold. This provides a reasonable and suitable frequency division basis for the subsequent synthesis of total active damping control force and the effective suppression of broadband vibrations on the satellite platform, ensuring the orderly implementation of the stable control strategy for inter-satellite laser communication links.

[0100] Optionally, the transfer function of the high-pass filter for:

[0101] (8)

[0102] The transfer function of the low-pass filter for:

[0103] (9)

[0104] Where s is a complex frequency variable; The cutoff angular frequency satisfies , The preset cutoff frequency; Q is the quality factor, with a value of [value missing]. .

[0105] Specifically, to achieve the frequency domain separation defined by formula (7) in engineering, a filter with a sharp roll-off characteristic needs to be constructed. This application selects a second-order Butterworth filter because it has the flattest amplitude response in the passband and provides good phase linearity, making it a standard choice in engineering practice. The design of the filter is based on its transfer function. For high-pass filtering, its function is to extract the active damping control force above the cutoff frequency. The high-frequency components. 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 components. Its standard transfer function. for: That is, formulas (8) and (9).

[0106] This set of formulas represents the transfer function of a second-order filter, used to separate and synthesize the frequency bands of control and compensation forces; where s is a complex frequency variable used for Laplace domain representation. The cutoff angular frequency is the frequency that is cut off from the cutoff frequency. Relationship satisfaction This is the basic relationship between frequency domain and complex frequency domain conversion; The quality factor is a key parameter that determines the shape of a filter's frequency response. For a Butterworth filter, the design goal is maximum passband flatness, corresponding to... Value This is to achieve the characteristics of the Butterworth filter, ensuring passband flatness and transition band steepness.

[0107] By using the above methods and by setting these transfer functions and related parameters, mathematical models for high-pass and low-pass filtering can be accurately constructed in the complex frequency domain. This enables the effective separation of the high-frequency components of the active damping control force and the low-frequency components of the active damping compensation force, 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 communication.

[0108] Therefore, according to the first aspect of this embodiment, this application achieves synergistic optimization of satellite platform broadband vibration suppression and ultra-long-distance beam drift compensation through a dual closed-loop mechanism integrating local vibration sensing and cross-satellite power feedback. This ensures the link stability of inter-satellite laser communication and effectively avoids the risks of received power jitter and bit errors. This solves the technical problem in the prior art where, in ultra-long-distance dynamic links, vibration of the satellite platform itself can induce beam pointing instability, resulting in insufficient link stability for inter-satellite laser communication and causing received power jitter or even bit errors during laser signal transmission.

[0109] In addition, refer to Figure 1 As shown, according to a second aspect of this embodiment, a storage medium is provided. The storage medium includes a stored program, wherein, when the program is executed, a processor performs any of the methods described above.

[0110] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that the present invention is not limited to the described order of actions, because according to the present invention, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to the present invention.

[0111] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, in essence, or the part 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, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0112] Example 2

[0113] This embodiment provides a stable inter-satellite laser communication device, which corresponds to the method described in 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, used to determine the vibration data of the optical communication module of a first satellite using the displacement sensor within the current control cycle; wherein the first satellite is the transmitting satellite 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; a first calculation module, used to calculate an active damping control force to counteract the vibration based on the vibration data; a second calculation module, used to calculate an active damping compensation force based on the actual received power of a second satellite and a preset reference received power within a preset time period; wherein the second satellite is the receiving satellite in the laser communication process; a control force determination module, used to determine the total active damping control force based on the active damping control force and the active damping compensation force; and a drive module, used to drive the active damper to apply a corresponding counteracting force to the optical communication module according to the total active damping control force.

[0114] Optionally, the operation of calculating the active damping control force to counteract vibration based on vibration data includes: calculating the active damping control force to counteract vibration based on vibration data using the following formula:

[0115] (1)

[0116] (2)

[0117] (3)

[0118] The active damping control force at time t; For displacement feedback gain; For speed feedback gain; Let be the vibration displacement of the optical communication module at time t; Let be the vibration velocity of the optical communication module at time t; The equivalent mass of the optical communication module; For equivalent stiffness, satisfy , denoted as , and c is the inherent stiffness coefficient of the optical communication module support structure; , and c is the inherent damping coefficient of the optical communication module support structure. The highest disturbance frequency to be suppressed for the system design must meet the following requirements. , This is the highest disturbance frequency in the vibration spectrum of the first satellite; For the optimal damping ratio, satisfying , For equivalent damping, .

[0119] 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 over a preset time period includes: calculating the active damping compensation force using the following formula based on the actual received power of the second satellite and the preset reference received power over a preset time period:

[0120] (4)

[0121] (5)

[0122] in, The active damping compensation force at time t; The preset compensation gain coefficient; N is the total number of sampling times within the preset time period in the past; Let be the absolute value of the received power deviation at the i-th sampling time. The instantaneous received power value of the second satellite at the i-th sampling time; Represents a sequence of sampling times that satisfies ,and The current moment; This is the preset reference receiving power.

[0123] Optionally, the preset compensation gain coefficient is determined by the following formula:

[0124] (6)

[0125] in, This is the maximum output force of the active damper; To preset the reference receiving power, This is the minimum received power threshold required for the second satellite to decode normally.

[0126] 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: 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 a preset cutoff frequency; and combining the high-frequency component and the low-frequency component to obtain the total active damping control force.

[0127] Optionally, the preset cutoff frequency is determined by the following formula:

[0128] (7)

[0129] in, To preset the cutoff frequency, This is the highest disturbance frequency in the vibration spectrum of the satellite platform.

[0130] Optionally, the transfer function of the high-pass filter for:

[0131] (8)

[0132] The transfer function of the low-pass filter for:

[0133] (9)

[0134] Where s is a complex frequency variable; The cutoff angular frequency satisfies , The preset cutoff frequency; Q is the quality factor, with a value of [value missing]. .

[0135] Therefore, according to this embodiment, by integrating local vibration sensing and cross-satellite power feedback into a dual closed-loop mechanism, the coordinated optimization of satellite platform broadband vibration suppression and ultra-long-distance beam drift compensation is achieved, ensuring the link stability of inter-satellite laser communication and effectively avoiding the risks of received power jitter and bit errors. This solves the technical problem in existing technologies where, in ultra-long-distance dynamic links, vibration of the satellite platform itself can induce beam pointing instability, resulting in insufficient link stability for inter-satellite laser communication and causing received power jitter or even bit errors during laser signal transmission.

[0136] Example 3

[0137] Figure 4 A stable inter-satellite laser communication device according to this embodiment is shown, which corresponds to the method described according to Embodiment 1. (Reference) Figure 4 As shown, the inter-satellite laser communication device includes: a processor 410; and a memory 420 connected to the processor 410, used to provide the processor 410 with instructions to process the following steps: During the current control cycle, determining the vibration data of the optical communication module of the first satellite using a displacement sensor; wherein the first satellite is the transmitting satellite 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 to counteract the vibration; calculating an active damping compensation force based on the actual received power of the second satellite and a preset reference received power over a preset time period; wherein the second satellite is the receiving satellite in the laser communication process; determining the 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 counteracting force to the optical communication module based on the total active damping control force.

[0138] Optionally, the operation of calculating the active damping control force to counteract vibration based on vibration data includes: calculating the active damping control force to counteract vibration based on vibration data using the following formula:

[0139] (1)

[0140] (2)

[0141] (3)

[0142] in, The active damping control force at time t; For displacement feedback gain; For speed feedback gain; Let be the vibration displacement of the optical communication module at time t; Let be the vibration velocity of the optical communication module at time t; The equivalent mass of the optical communication module; For equivalent stiffness, satisfy , denoted as , and c is the inherent stiffness coefficient of the optical communication module support structure; , and c is the inherent damping coefficient of the optical communication module support structure. The highest disturbance frequency to be suppressed for the system design must meet the following requirements. , This is the highest disturbance frequency in the vibration spectrum of the first satellite; For the optimal damping ratio, satisfying , For equivalent damping, .

[0143] 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 over a preset time period includes: calculating the active damping compensation force using the following formula based on the actual received power of the second satellite and the preset reference received power over a preset time period:

[0144] (4)

[0145] (5)

[0146] in, The active damping compensation force at time t; The preset compensation gain coefficient; N is the total number of sampling times within the preset time period in the past; Let be the absolute value of the received power deviation at the i-th sampling time. The instantaneous received power value of the second satellite at the i-th sampling time; Represents a sequence of sampling times that satisfies ,and The current moment; This is the preset reference receiving power.

[0147] Optionally, the preset compensation gain coefficient is determined by the following formula:

[0148] (6)

[0149] in, This is the maximum output force of the active damper; To preset the reference receiving power, This is the minimum received power threshold required for the second satellite to decode normally.

[0150] 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: 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 a preset cutoff frequency; and combining the high-frequency component and the low-frequency component to obtain the total active damping control force.

[0151] Optionally, the preset cutoff frequency is determined by the following formula:

[0152] (7)

[0153] in, To preset the cutoff frequency, This is the highest disturbance frequency in the vibration spectrum of the satellite platform.

[0154] Optionally, the transfer function of the high-pass filter for:

[0155] (8)

[0156] The transfer function of the low-pass filter for:

[0157] (9)

[0158] Where s is a complex frequency variable; The cutoff angular frequency satisfies , The preset cutoff frequency; Q is the quality factor, with a value of [value missing]. .

[0159] Therefore, according to this embodiment, by integrating local vibration sensing and cross-satellite power feedback into a dual closed-loop mechanism, the coordinated optimization of satellite platform broadband vibration suppression and ultra-long-distance beam drift compensation is achieved, ensuring the link stability of inter-satellite laser communication and effectively avoiding the risks of received power jitter and bit errors. This solves the technical problem in existing technologies where, in ultra-long-distance dynamic links, vibration of the satellite platform itself can induce beam pointing instability, resulting in insufficient link stability for inter-satellite laser communication and causing received power jitter or even bit errors during laser signal transmission.

[0160] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0161] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0162] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0163] The units described as separate components may or may not be physically separate. 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 the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0164] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0165] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0166] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for maintaining stable inter-satellite laser communication, characterized in that, include: During the current control cycle, vibration data of the optical communication module of the first satellite is determined using a displacement sensor; wherein, the first satellite is the satellite that acts as the 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; Based on the vibration data, calculate the active damping control force used to counteract the vibration; The active damping compensation force is calculated based on the actual received power of the second satellite and the preset reference received power within a preset time period in the past; wherein, the second satellite is the satellite that acts as the receiver in the laser communication process; Based on the active damping control force and the active damping compensation force, determine the total active damping control force; and Based on the total active damping control force, the active damper is driven to apply a corresponding counteracting force to the optical communication module; The operation of calculating the active damping control force to counteract the vibration based on the vibration data includes: Based on the vibration data, the active damping control force used to counteract the vibration is calculated using the following formula: （1） （2） （3） in, The active damping control force at time t; For displacement feedback gain; For speed feedback gain; Let be the vibration displacement of the optical communication module at time t; Let be the vibration velocity of the optical communication module at time t; The equivalent mass of the optical communication module; For equivalent stiffness, satisfy , 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 to be suppressed for the system design must meet the following requirements. , The highest disturbance frequency in the vibration spectrum of the first satellite; For the optimal damping ratio, satisfying , For equivalent damping, ; 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 a preset time period includes: Based on the actual received power of the second satellite and the preset reference received power over a preset time period, the active damping compensation force is calculated using the following formula: （4） （5） in, The active damping compensation force at time t; The preset compensation gain coefficient; N is the total number of sampling times within the preset time period in the past; Let be the absolute value of the received power deviation at the i-th sampling time. The instantaneous received power value measured by the second satellite at the i-th sampling time; Represents a sequence of sampling times that satisfies ,and The current moment; This is the preset reference receiving power.

2. The method according to claim 1, characterized in that, The preset compensation gain coefficient is determined by the following formula: （6） in, This is the maximum output force of the active damper; To preset the reference receiving power, This is the minimum received power threshold required for the second satellite to decode normally.

3. The method according to claim 1, characterized in that, The operation of determining the total active damping control force based on the active damping control force and the active damping compensation force includes: The active damping control force is high-pass filtered to obtain a high-frequency component higher than the preset cutoff frequency; The active damping compensation force is low-pass filtered to obtain a low-frequency component below the preset cutoff frequency; and The high-frequency component and the low-frequency component are combined to obtain the total active damping control force.

4. The method according to claim 3, characterized in that, The preset cutoff frequency is determined by the following formula: （7） in, The preset cutoff frequency, This is the highest disturbance frequency in the vibration spectrum of the satellite platform.

5. The method according to claim 3 or 4, characterized in that, The transfer function of the high-pass filter for: （8） The transfer function of the low-pass filter for: （9） Where s is a complex frequency variable; The cutoff angular frequency satisfies , The preset cutoff frequency is denoted by Q; Q is the quality factor, with a value of _____. .

6. A storage medium, characterized in that, The storage medium includes a stored program, wherein, when the program is executed, the method described in any one of claims 1 to 5 is performed by a processor.

7. 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 is used to determine the vibration data of the optical communication module of the first satellite using a displacement sensor within the current control cycle; wherein the first satellite is the satellite that acts as the 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; The first calculation module is used to calculate the active damping control force to counteract the vibration based on the vibration data. The second calculation module is used to calculate the active damping compensation force based on the actual received power of the second satellite and the preset reference received power within a preset time period in the past; wherein, the second satellite is the satellite that acts as the receiver in the laser communication process; A control force determination module is used to determine the total active damping control force based on the active damping control force and the active damping compensation force; and The drive module is used to drive the active damper to apply a corresponding counteracting force to the optical communication module according to the total active damping control force; The operation of calculating the active damping control force to counteract the vibration based on the vibration data includes: Based on the vibration data, the active damping control force used to counteract the vibration is calculated using the following formula: （1） （2） （3） in, The active damping control force at time t; For displacement feedback gain; For speed feedback gain; Let be the vibration displacement of the optical communication module at time t; Let be the vibration velocity of the optical communication module at time t; The equivalent mass of the optical communication module; For equivalent stiffness, satisfy , 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 to be suppressed for the system design must meet the following requirements. , The highest disturbance frequency in the vibration spectrum of the first satellite; For the optimal damping ratio, satisfying , For equivalent damping, ; 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 a preset time period includes: Based on the actual received power of the second satellite and the preset reference received power over a preset time period, the active damping compensation force is calculated using the following formula: （4） （5） in, The active damping compensation force at time t; The preset compensation gain coefficient; N is the total number of sampling times within the preset time period in the past; Let be the absolute value of the received power deviation at the i-th sampling time. The instantaneous received power value measured by the second satellite at the i-th sampling time; Represents a sequence of sampling times that satisfies ,and The current moment; This is the preset reference receiving power.

8. A stable inter-satellite laser communication device, characterized in that, include: processor; as well as A memory, connected to the processor, for providing the processor with instructions to perform the following processing steps: During the current control cycle, vibration data of the optical communication module of the first satellite is determined using a displacement sensor; wherein, the first satellite is the satellite that acts as the 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; Based on the vibration data, calculate the active damping control force used to counteract the vibration; The active damping compensation force is calculated based on the actual received power of the second satellite and the preset reference received power within a preset time period in the past; wherein, the second satellite is the satellite that acts as the receiver in the laser communication process; Based on the active damping control force and the active damping compensation force, determine the total active damping control force; and Based on the total active damping control force, the active damper is driven to apply a corresponding counteracting force to the optical communication module; The operation of calculating the active damping control force to counteract the vibration based on the vibration data includes: Based on the vibration data, the active damping control force used to counteract the vibration is calculated using the following formula: （1） （2） （3） in, The active damping control force at time t; For displacement feedback gain; For speed feedback gain; Let be the vibration displacement of the optical communication module at time t; Let be the vibration velocity of the optical communication module at time t; The equivalent mass of the optical communication module; For equivalent stiffness, satisfy , 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 to be suppressed for the system design must meet the following requirements. , The highest disturbance frequency in the vibration spectrum of the first satellite; For the optimal damping ratio, satisfying , For equivalent damping, ; 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 a preset time period includes: Based on the actual received power of the second satellite and the preset reference received power over a preset time period, the active damping compensation force is calculated using the following formula: （4） （5） in, The active damping compensation force at time t; The preset compensation gain coefficient; N is the total number of sampling times within the preset time period in the past; Let be the absolute value of the received power deviation at the i-th sampling time. The instantaneous received power value measured by the second satellite at the i-th sampling time; Represents a sequence of sampling times that satisfies ,and The current moment; This is the preset reference receiving power.

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