Satellite laser link verification test method, device and computer equipment

Abstract

The present specification provides a satellite laser link verification test method, device and computer equipment. Based on the method, first, according to the preset calibration rule, the zero point coordinate of the turntable is determined; and the turntable reference coordinate system, the turntable zero point coordinate system, and the laser terminal coordinate system are established; in the state that the turntable is at the zero point coordinate, the angle deviation correction matrix of the laser terminal coordinate system and the turntable zero point coordinate system is determined by jointly using the above multiple coordinate systems, and the space unified operation is realized; after obtaining the orbit and attitude data of the target satellite for simulation test, the corresponding target control quantity can be generated according to the orbit and attitude data and the angle deviation correction matrix; and the laser terminal and the turntable in the satellite laser link test system are controlled to operate by using the control quantity, so as to simulate the laser link capture and tracking of the target satellite. Thus, the unified space reference can be established, and the laser link capture and tracking of the target satellite can be accurately simulated.

Description

TECHNICAL FIELD

[0001] The present specification belongs to the technical field of satellite communication, and particularly relates to a satellite laser link verification test method and device and a computer equipment. BACKGROUND

[0002] With the development of communication technology, laser communication has gradually been applied to satellite communication due to its advantages of high bandwidth, strong anti-interference, low power consumption, etc.

[0003] Compared with traditional microwave communication, laser communication has a smaller beam divergence angle, for example, usually only a few tens of microradians, which leads to greater difficulty in capturing, tracking and building a link when actually building a communication link. In specific implementation, a corresponding test system is usually first constructed on the ground for ground simulation testing, and then the satellite laser link capture and tracking and link building are verified according to the ground test results. However, when using the test system to perform ground simulation testing based on the existing method, the real satellite laser link capture and tracking and link building cannot be accurately simulated, which leads to a lower reference value of the obtained ground test results.

[0004] At present, no effective solution has been proposed for the above problems. SUMMARY

[0005] The present specification provides a satellite laser link verification test method, device and computer equipment, which can establish a unified space reference and accurately simulate the real satellite laser link capture and tracking and link building to obtain a more accurate and higher reference value target test result.

[0006] The present specification provides a satellite laser link verification test method, which is applied to a satellite laser link test system, wherein the satellite laser link test system at least includes a time system device, a data processing end, a laser terminal, a ground detection terminal, a turntable, a turntable controller, and a collimator device. The method comprises:

[0007] According to a preset calibration rule, a zero point coordinate of the turntable is determined; and a turntable reference coordinate system, a turntable zero point coordinate system, and a laser terminal coordinate system are established;

[0008] In a state where the turntable is at the zero point coordinate, an angle deviation correction matrix of the laser terminal coordinate system and the turntable zero point coordinate system is determined based on the turntable reference coordinate system, the turntable zero point coordinate system, and the laser terminal coordinate system;

[0009] Obtain orbit and attitude data of a target satellite;

[0010] According to the orbit and attitude data and the angle deviation correction matrix, a corresponding target control quantity is generated and used to control the operation of the laser terminal and the turntable to simulate the laser link capture and tracking and link building of the target satellite.

[0011] In one embodiment, the determining the zero point coordinate of the turntable according to the preset calibration rule comprises:

[0012] According to the preset calibration rule, the laser of the parallel light device is turned on;

[0013] A zero point measurement tool is installed at the center position of the turntable, and a second cube mirror is arranged on the zero point measurement tool;

[0014] The pose of the turntable is adjusted so that the light spot formed by the light beam reflected back after passing through the second cube mirror is aligned with the zero point position of the camera of the parallel light device, and the plane formed by the pitch axis and the azimuth axis of the turntable is coplanar with the camera of the parallel light device;

[0015] The zero point coordinate of the turntable is determined according to the current azimuth angle and pitch angle of the turntable.

[0016] In one embodiment, the establishing the turntable reference coordinate system, the zero point coordinate system of the turntable, and the laser terminal coordinate system comprises:

[0017] According to the preset calibration rule, the zero point coordinate system of the turntable is established based on the second cube mirror;

[0018] A first cube mirror is arranged at the side wall position of the turntable, and the turntable reference coordinate system is established based on the first cube mirror;

[0019] The zero point measurement tool is disassembled under the current pose state of the turntable;

[0020] A laser terminal is installed at the center position of the turntable, and a third cube mirror is arranged on the laser terminal;

[0021] The laser terminal coordinate system is established based on the third cube mirror.

[0022] In one embodiment, the determining the angle deviation correction matrix of the laser terminal coordinate system and the zero point coordinate system of the turntable based on the turntable reference coordinate system, the zero point coordinate system of the turntable, and the laser terminal coordinate system when the turntable is in the state of the zero point coordinate comprises:

[0023] When the turntable is in the state of the zero point coordinate, the zero point calibration tool is installed on the turntable, and the first measurement matrix of the zero point coordinate system of the turntable relative to the turntable reference coordinate system is measured and calibrated by using the theodolite;

[0024] The laser terminal is installed on the turntable, and the second measurement matrix of the laser terminal coordinate system relative to the turntable reference coordinate system is measured and calibrated by using the theodolite;

[0025] According to the first measurement matrix and the second measurement matrix, a correction matrix of an angle deviation between a laser terminal coordinate system and a turntable zero point coordinate system is determined.

[0026] In one embodiment, after determining the zero point coordinate of the turntable according to the preset calibration rule, the method further comprises:

[0027] In a state where the turntable is at the zero point coordinate, a laser of the laser terminal is turned on according to a preset calibration rule, and the azimuth angle and the elevation angle of the laser terminal are adjusted so that the optical axis of the laser terminal and the optical axis of the camera of the collimator device are coaxial, and the laser terminal and the camera of the collimator device simultaneously observe a required light spot; wherein the light spot is located at the central position of the field of view of the camera.

[0028] The zero point coordinate of the laser terminal is determined and obtained according to the current azimuth angle and the elevation angle of the laser terminal.

[0029] In one embodiment, after determining the correction matrix of the angle deviation between the laser terminal coordinate system and the turntable zero point coordinate system, the method further comprises:

[0030] The time synchronization device is used to respectively perform corresponding time alignment processing on the data processing end, the laser terminal, the turntable, and the turntable controller.

[0031] In one embodiment, the time synchronization device is used to respectively perform corresponding time alignment processing on the data processing end, the laser terminal, the turntable, and the turntable controller, which comprises:

[0032] The time synchronization device is used to send a preset time code to the data processing end, send a preset trigger signal to the turntable, send a preset time code and a preset trigger signal to the turntable controller, send a preset time code, a preset trigger signal, and a preset transmission configuration signal to the ground detection terminal, and send a preset trigger signal and a preset transmission configuration signal to the laser terminal.

[0033] In one embodiment, the orbit and attitude data at least carries a time stamp.

[0034] Correspondingly, after obtaining the orbit and attitude data of the target satellite, the method further comprises:

[0035] According to the orbit and attitude data, a first initial time point and a first advance time point based on the first initial time point are determined.

[0036] Based on the first advance time point, the data processing end is used to send corresponding first attitude and orbit data and second attitude and orbit data to the turntable controller and the ground detection terminal respectively according to the orbit and attitude data, so that the laser terminal and the turntable are controlled to operate by the turntable controller and the ground detection terminal respectively according to the first attitude and orbit data and the second attitude and orbit data.

[0037] In one embodiment, after sending the first attitude and orbit data and the second attitude and orbit data to the turntable controller and the ground terminal respectively based on the first advance time point, the method further comprises:

[0038] generating, by the turntable controller, a first control quantity for the turntable according to the first attitude and orbit data and the angle deviation correction matrix;

[0039] starting from the first initial time point, sending, by the turntable controller, the first control quantity to the turntable according to the preset trigger signal, so that the turntable simulates the operation of the target satellite according to the first control quantity starting from the first initial time point.

[0040] In one embodiment, the generating, by the turntable controller, a first control quantity for the turntable according to the first attitude and orbit data and the angle deviation correction matrix comprises:

[0041] determining a first pointing vector of the target satellite according to the first attitude and orbit data; obtaining a first conversion matrix of an inertial coordinate system of the target satellite to a satellite orbit coordinate system, a second conversion matrix of the satellite orbit coordinate system to a satellite body coordinate system based on the attitude of the satellite, and a third conversion matrix of the satellite body coordinate system to a terminal installation coordinate system;

[0042] calculating a corresponding second pointing vector by using the first pointing vector according to the first conversion matrix, the second conversion matrix, and the third conversion matrix;

[0043] processing the second pointing vector by using the angle deviation correction matrix to obtain a third pointing vector based on the satellite laser link test system;

[0044] determining the first control quantity for the turntable according to the third pointing vector.

[0045] In one embodiment, the determining the first control quantity for the turntable according to the third pointing vector comprises:

[0046] converting the third pointing vector to a corresponding first azimuth pointing angle and a first pitch pointing angle according to a preset angle mapping relationship according to the third pointing vector;

[0047] performing negative processing on the first azimuth pointing angle and the first pitch pointing angle respectively to obtain a corresponding second azimuth pointing angle and a second pitch pointing angle;

[0048] determining the first control quantity for the turntable according to the second azimuth pointing angle and the second pitch pointing angle.

[0049] In one embodiment, after the first control quantity for the turntable is determined according to the second azimuth pointing angle and the second elevation pointing angle, the method further comprises:

[0050] determining a pointing difference simulation quantity about the target satellite;

[0051] adjusting the first control quantity by using the pointing difference simulation quantity.

[0052] In one embodiment, the first control quantity corresponding to the turntable is sent to the turntable by using the turntable controller according to the preset trigger signal from the first initial time point, which comprises:

[0053] sending the first control quantity data packet to the turntable by using the turntable controller according to the preset trigger signal; wherein the first control quantity data packet comprises the first control quantity of the turntable at multiple time points within a specified time period based on the first initial time point.

[0054] In one embodiment, the first control quantity corresponding to the turntable is sent to the turntable by using the turntable controller according to the preset trigger signal from the first initial time point, which further comprises:

[0055] sending the first control quantity of the turntable at each time point within a specified time period based on the first initial time point to the turntable by using the turntable controller according to the preset trigger signal in sequence and timing.

[0056] In one embodiment, after the laser terminal and the turntable are controlled to operate by using the corresponding target control quantity generated according to the orbit and attitude data and the angle deviation correction matrix to simulate the laser link capture, tracking and establishment of the target satellite, the method further comprises:

[0057] collecting and determining the target test result according to the target characteristic parameters in the process of simulating the laser link capture, tracking and establishment of the target satellite;

[0058] determining the matching target link establishment scheme according to the target test result;

[0059] performing the capture, tracking and establishment of the laser link of the target satellite according to the target link establishment scheme.

[0060] The present specification also provides a satellite laser link verification test device applied to a satellite laser link test system, wherein the satellite laser link test system at least comprises a time system device, a data processing end, a laser terminal, a ground detection terminal, a turntable, a turntable controller and a collimator device, and the device comprises:

[0061] a calibration module configured to determine the zero point coordinates of the turntable according to a preset calibration rule, and to establish a turntable reference coordinate system, a turntable zero point coordinate system and a laser terminal coordinate system;

[0062] determining, based on the turret reference coordinate system, the turret zero coordinate system, and the laser terminal coordinate system, an angle deviation correction matrix of the laser terminal coordinate system and the turret zero coordinate system when the turret is in a state of the zero coordinate;

[0063] The acquisition module is configured to acquire orbit and attitude data of the target satellite.

[0064] The processing module is configured to generate a corresponding target control quantity based on the orbit and attitude data and the angle deviation correction matrix, and control the laser terminal and the turret to operate by using the target control quantity, so as to simulate laser link acquisition, tracking and link establishment of the target satellite.

[0065] The present specification provides a computer device, which comprises a processor and a memory for storing processor-executable instructions, and the processor implements relevant steps of the satellite laser link verification test method when executing the instructions.

[0066] The present specification provides a computer-readable storage medium, which stores computer instructions, and the instructions implement steps of the satellite laser link verification test method when executed by a processor.

[0067] The present specification provides a computer program product, which comprises a computer program, and the computer program implements steps of the satellite laser link verification test method when executed by a processor.

[0068] Based on the satellite laser link verification test method, device and computer device provided in the present specification, the zero coordinate of the turret is determined according to a preset calibration rule, the turret reference coordinate system, the turret zero coordinate system and the laser terminal coordinate system are established, the angle deviation correction matrix of the laser terminal coordinate system and the turret zero coordinate system is determined by jointly using the above-mentioned multiple coordinate systems when the turret is in a state of the zero coordinate, the spatial unification of the satellite laser link test system is realized, the corresponding spatial unified target control quantity is generated according to the orbit and attitude data and the angle deviation correction matrix after the orbit and attitude data of the target satellite used for simulation test are acquired, and the laser terminal and the turret in the satellite laser link test system are controlled to operate by using the target control quantity, so as to simulate laser link acquisition, tracking and link establishment of the target satellite. Thus, a unified spatial reference can be established, the spatial coordinate deviation of the test system can be corrected and eliminated in a targeted manner, the deviation of the simulation test relative to the real situation can be effectively reduced, the laser link acquisition, tracking and link establishment process of the target satellite can be simulated more accurately and truly, and a more accurate and highly valuable target test result can be obtained. BRIEF DESCRIPTION OF DRAWINGS

[0069] In order to more clearly illustrate the embodiments of the present specification, the drawings required to be used in the embodiments will be briefly introduced as follows. The drawings described in the following description are only some embodiments described in the present specification, and other drawings can be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0070] Figure 1 is a flowchart of a satellite laser link verification test method provided by an embodiment of the present specification;

[0071] Figure 2 is a structural composition diagram of a satellite laser link test system provided by an embodiment of the present specification;

[0072] Figure 3 is a schematic diagram of an embodiment of a satellite laser link verification test method provided by an embodiment of the present specification in a scene example when the space unified operation is applied;

[0073] Figure 4 is a structural composition diagram of a satellite laser link test system provided by another embodiment of the present specification;

[0074] Figure 5 is a schematic diagram of a satellite orbit coordinate system involved when the satellite laser link verification test method provided by an embodiment of the present specification is applied in a scene example;

[0075] Figure 6 is a schematic diagram of an embodiment of a satellite laser link verification test method provided by an embodiment of the present specification in a scene example when the space unified operation is applied to determine the angle deviation correction matrix;

[0076] Figure 7 is a schematic diagram of an embodiment of a satellite laser link verification test method provided by an embodiment of the present specification in a scene example when the first control amount for the turntable is calculated;

[0077] Figure 8 is a structural composition diagram of a computer device provided by an embodiment of the present specification;

[0078] Figure 9 is a structural composition diagram of a satellite laser link verification test device provided by an embodiment of the present specification;

[0079] Figure 10 is a schematic diagram of an embodiment of a satellite laser link verification test method provided by an embodiment of the present specification in a scene example when the ground detection terminal interacts;

[0080] Figure 11Fig. 1 is a schematic diagram of an embodiment of a turntable controller interaction in a scenario example of applying the satellite laser link verification test method provided by the embodiments of the present specification;

[0081] Figure 12 Fig. 2 is a schematic diagram of an embodiment of a data processing end sending attitude and orbit data in advance in a scenario example of applying the satellite laser link verification test method provided by the embodiments of the present specification;

[0082] Figure 13 Fig. 3 is a schematic diagram of an embodiment of broadcasting data to a laser terminal in a scenario example of applying the satellite laser link verification test method provided by the embodiments of the present specification. DETAILED DESCRIPTION

[0083] In order to enable persons skilled in the art to better understand the technical solutions in the present specification, the technical solutions in the embodiments of the present specification will be described clearly and completely below with reference to the drawings in the embodiments of the present specification. Obviously, the described embodiments are only some of the embodiments of the present specification, not all the embodiments. Based on the embodiments in the present specification, all other embodiments obtained by persons skilled in the art without creative labor should fall within the scope of protection of the present specification.

[0084] It should be noted that the information and data related to the user involved in the embodiments of the present specification are information and data authorized by the user or sufficiently authorized by the relevant parties, and the collection, storage, use, processing, transmission, provision, disclosure and application of the relevant data all comply with relevant laws, regulations and standards, necessary security measures are taken, do not violate public order and good customs, and provide corresponding operation portal for the user or the relevant parties to choose authorization or refusal.

[0085] It should also be noted that in the embodiments of the present specification, some industry existing schemes such as software, components, models, etc. may be mentioned, which should be considered as exemplary, and the purpose is only to illustrate the feasibility in the implementation of the technical solutions of the present application, but it does not mean that the applicant has or will necessarily use the scheme.

[0086] Referring to Figure 1 The embodiments of the present specification provide a satellite laser link verification test method. Wherein the method is specifically applied to one side of a satellite laser link test system, and the satellite laser link test system can at least include: a timing device, a data processing end, a laser terminal, a ground detection terminal, a turntable, a turntable controller, a collimator device and the like. In specific implementation, the method can include the following contents:

[0087] S101: Determine the zero point coordinate of the turntable according to the preset calibration rule; and establish a turntable reference coordinate system, a turntable zero point coordinate system, and a laser terminal coordinate system;

[0088] S102: In the state that the turntable is at the zero point coordinate, determine the angle deviation correction matrix of the laser terminal coordinate system and the turntable zero point coordinate system based on the turntable reference coordinate system, the turntable zero point coordinate system, and the laser terminal coordinate system;

[0089] S103: Obtain the orbit and attitude data of the target satellite;

[0090] S104: According to the orbit and attitude data and the angle deviation correction matrix, generate and control the laser terminal and the turntable to operate by using the corresponding target control quantity, so as to simulate the laser link capture and tracking of the target satellite.

[0091] The satellite laser link can be a laser link used for laser communication of the target satellite.

[0092] The satellite laser link test system can be understood as a device system deployed on the ground for simulating and testing the capture and tracking process of the laser link of the target satellite.

[0093] Referring to Figure 2 The satellite laser link test system can at least include a timing device, a data processing end (such as a laser engineering data workstation), a ground detection terminal (or terminal ground detection), a turntable (such as a two-dimensional turntable), a turntable controller (such as a two-dimensional turntable controller), a collimator device (such as a collimator), and a laser terminal.

[0094] The timing device can be connected to the data processing end, the ground detection terminal, the turntable, the turntable controller, the collimator device, and the laser terminal through wired or wireless means. The data processing end can be connected to the ground detection terminal and the turntable controller. The turntable controller can be connected to the turntable. The ground detection terminal can be connected to the laser terminal. The collimator device and the laser terminal are arranged correspondingly.

[0095] The turntable can be used to simulate the movement of the target satellite in the laser link capture and tracking process. The laser terminal arranged on the turntable can be used to simulate the movement of the laser payload on the target satellite in the laser link capture and tracking process. The collimator device can be used to simulate the far-field laser used in the laser link capture and tracking process. The laser terminal can be provided with a laser generator and a laser receiver. The collimator device can be provided with a laser generator and a laser receiver.

[0096] The laser link capturing, tracking and establishing can specifically include: detecting a capture signal light, determining a target position; adjusting a pointing direction of a laser generator and / or a laser receiver of the laser terminal, tracking the target; after stable tracking is achieved, signal modulation, transmission and reception are performed to establish a stable laser link with the target.

[0097] In addition, the laser terminal is provided with a corresponding camera, and the collimator device is provided with a corresponding camera. The data processing end, the laser terminal, the ground detection terminal, the turntable, the turntable controller and the collimator device can also be deployed with corresponding protocol rules, such as a UDP (User Datagram Protocol) protocol.

[0098] Further, the satellite laser link test system can further include a processor; wherein the processor is connected with the time system device, the data processing end, the laser terminal, the ground detection terminal, the turntable, the turntable controller and the collimator device, and is used to control the operation of the related devices in the satellite laser link test system to complete the satellite laser link test.

[0099] Specifically, the target satellite can include multiple different satellites. Correspondingly, the satellite laser link can be an inter-satellite laser link between different satellites; in the satellite laser link test system, the data processing end, the laser terminal, the ground detection terminal, the turntable, the turntable controller and the collimator device can specifically include multiple data processing ends, multiple laser terminals, multiple ground detection terminals, multiple turntables, multiple turntable controllers and multiple collimator devices corresponding to the multiple different satellites in the target satellite.

[0100] Specifically, for example, the target satellite can include two different satellites: a first satellite and a second satellite. Correspondingly, in order to simulate the laser link capturing, tracking and establishing between the two satellites, the satellite laser link test system can include a first data processing end, a first laser terminal, a first ground detection terminal, a first turntable, a first turntable controller and a first collimator device corresponding to the first satellite, and a second data processing end, a second laser terminal, a second ground detection terminal, a second turntable, a second turntable controller and a second collimator device corresponding to the second satellite. Further, based on the satellite laser link test system, the laser link capturing, tracking and establishing of the first satellite relative to the second satellite and / or the laser link capturing, tracking and establishing of the second satellite relative to the first satellite can be simulated by applying the method provided in the present specification.

[0101] In some cases, according to specific processing requirements, the target satellite can also include other quantities of different satellites such as a first satellite, a second satellite, a third satellite, etc. In this regard, the present specification is not limited.

[0102] The orbit and attitude data of the target satellite can be specifically orbit and attitude data of the target satellite in a time period. According to a corresponding protocol rule, the orbit and attitude data can be injected into the data processing end in the format of a CSV / TXT file. Correspondingly, the orbit and attitude data of the target satellite can be acquired by the data processing end.

[0103] Specifically, when the target satellite includes a first satellite and a second satellite, the orbit and attitude data of the target satellite can include orbit and attitude data of the first satellite and the second satellite.

[0104] Further, the orbit and attitude data can also be fused with target interference data of the target satellite, for example, interference data caused by interference factors such as assembly error, satellite launch vibration, satellite platform attitude jitter, orbit and attitude disturbance, orbit extrapolation error, and inter-satellite laser pointing error of the target satellite.

[0105] Specifically, according to the interference data, a corresponding pointing difference analog quantity can be determined in combination with a related correction model, so that in subsequent simulation of laser link capture and tracking, the pointing difference analog quantity can be used to simulate the error interference of the target satellite in real laser link capture and tracking, so that the laser link capture and tracking simulated based on the system is closer to the capture and tracking of the real satellite laser link, and thus a test result with relatively higher precision can be obtained.

[0106] The preset calibration rule can be specifically understood as a processing rule for spatial calibration and spatial alignment of the satellite laser link test system.

[0107] Referring to Figure 3 The turntable reference coordinate system (which can be denoted as ) can be specifically understood as a coordinate system with a specified position of a side wall of the turntable as an origin. Specifically, the turntable reference coordinate system can be a coordinate system established based on a first cube mirror arranged on the side wall of the turntable.

[0108] The turntable zero-point coordinate system (which can be denoted as ) can be specifically understood as a coordinate system with a central position of a turntable on the turntable as an origin. Specifically, the turntable zero-point coordinate system can be a coordinate system established based on a second cube mirror arranged on a zero-point measurement tool on the turntable.

[0109] The laser terminal coordinate system (which can be denoted as ) can be specifically understood as a coordinate system with a mounting position of a laser terminal on the turntable as an origin. Specifically, the laser terminal coordinate system can be a coordinate system established based on a third cube mirror arranged on the laser terminal on the turntable.

[0110] The zero point measurement tool can be a component used to assist in measurement, such as a graduated cylinder for placing a cube lens, etc.

[0111] The following will be described mainly with the example of the target satellite including two different satellites, i.e., the first satellite and the second satellite. Specifically, refer to Figure 4 As shown, in the satellite laser link test system, the data processing end, the laser terminal, the ground detection terminal, the turntable, the turntable controller, and the collimator can include: a first data processing end (e.g., a laser engineering data workstation 1) corresponding to the first satellite, a first laser terminal (e.g., a laser terminal 1), a first ground detection terminal (e.g., a terminal 1 ground detection), a first turntable (e.g., a two-dimensional turntable 1), a first turntable controller (e.g., a two-dimensional turntable controller 1), a first collimator (e.g., a collimator 1), and a second data processing end (e.g., a laser engineering data workstation 2) corresponding to the second satellite, a second laser terminal (e.g., a laser terminal 2), a second ground detection terminal (e.g., a terminal 2 ground detection), a second turntable (e.g., a two-dimensional turntable 1), a second turntable controller (e.g., a two-dimensional turntable controller 1), and a second collimator (e.g., a collimator 1). The first collimator and the second collimator can be connected by an optical fiber.

[0112] In implementation, first, based on the satellite laser link test system, the space unified operation of the satellite laser link test system can be performed according to the preset calibration rule.

[0113] Specifically, the zero point coordinates of the first turntable and the zero point coordinates of the second turntable can be determined according to the preset calibration rule. Then, the first turntable reference coordinate system, the first turntable zero point coordinate system, and the first laser terminal coordinate system can be determined and established when the first turntable is at the zero point coordinates. Similarly, the second turntable reference coordinate system, the second turntable zero point coordinate system, and the second laser terminal coordinate system can be determined and established.

[0114] Further, the first angle deviation correction matrix about the first laser terminal coordinate system and the first turntable zero point coordinate system can be determined based on the first turntable reference coordinate system, the first turntable zero point coordinate system, and the first laser terminal coordinate system when the first turntable is at the zero point coordinates according to the preset calibration rule. Similarly, the second angle deviation correction matrix about the second laser terminal coordinate system and the second turntable zero point coordinate system can be determined.

[0115] In this way, when the satellite laser link test system is specifically controlled according to the orbit and attitude data of the target satellite, the spatial coordinate deviation between the corresponding turntable and the laser terminal in the test system can be corrected by using the above angle deviation correction matrix, so as to realize the spatial alignment of the satellite laser link test system, so as to more accurately and truly simulate the satellite laser link capture and tracking process.

[0116] Then, based on the spatially aligned system, the orbit and attitude data of the first satellite are obtained, and the orbit and attitude data are injected into the first data processing end. At the same time, the orbit and attitude data of the second satellite are obtained, and the orbit and attitude data are injected into the second data processing end.

[0117] Next, the corresponding target control quantity can be generated according to the above orbit and attitude data in combination with the above angle deviation correction matrix, for example, the first control quantity for the first turntable and the second control quantity for the first laser terminal, and / or the first control quantity for the second turntable and the second control quantity for the second laser terminal, etc. The first laser terminal and the first turntable are controlled to operate by using the above target control quantity, and / or the second laser terminal and the second turntable are controlled to operate, so as to simulate the laser link capture and tracking of the target satellite. During the simulation of the laser link capture and tracking of the target satellite, the corresponding target test results are collected according to the specific test requirements. Then, the laser link capture and tracking of the first satellite and the second satellite can be guided according to the above target test results.

[0118] Specifically, for example, the first data processing end and the second data processing end can prepare the related first attitude and orbit data and the second attitude and orbit data according to the above orbit and attitude data, and provide the first attitude and orbit data and the second attitude and orbit data to the corresponding turntable controller and the ground detection terminal respectively (for example, the first data processing end and the second data processing end are used to perform corresponding orbit and attitude broadcasting on the connected terminal ground detection and two-dimensional turntable controller respectively).

[0119] Then, the first turntable controller can generate a first control quantity (for example, an azimuth pointing angle control quantity A, an elevation pointing angle control quantity E) for the first turntable according to the received first attitude and orbit data, and send the first control quantity to the first turntable; at the same time, the first ground detection terminal can generate a second control quantity for the first laser terminal according to the received second attitude and orbit data, and send the second control quantity to the first laser terminal. Correspondingly, the first turntable and the first laser terminal can operate according to the received first control quantity and second control quantity to simulate the movement of the first satellite in the laser link capture and tracking chain building process of the first satellite and the second satellite. Similarly, the second turntable and the second laser terminal can operate according to the received first control quantity and second control quantity to simulate the movement of the second satellite in the laser link capture and tracking chain building process of the first satellite and the second satellite. Thus, the above satellite laser link test system can be used to simulate the laser link capture and tracking chain building process of the first satellite and the second satellite (hereinafter referred to as simulation test) synchronously and accurately.

[0120] Based on the above embodiment, the deviation between the simulation test and the real satellite laser link capture and tracking chain building process caused by the non-uniform space and other reasons when the satellite laser link test system is applied to simulate the laser link capture and tracking chain building process can be effectively reduced. Thus, a more accurate and highly valuable target test result can be obtained through the simulation test, and the satellite laser link capture and tracking chain of the target satellite can be accurately and efficiently guided based on the target test result.

[0121] In some embodiments, referring to Figure 3 According to the preset calibration rule, the zero point coordinate of the turntable can be determined, and in specific implementation, the following contents can be included:

[0122] S3-1-1: Turn on the laser of the collimator according to the preset calibration rule;

[0123] S3-1-2: Install a zero point measurement tool at the center position of the turntable, and arrange a second cube mirror on the zero point measurement tool;

[0124] S3-1-3: Adjust the pose of the turntable so that the light spot formed by the light beam reflected back after passing through the second cube mirror is aligned with the zero point position of the camera (for example, the collimator camera) of the collimator, and the plane formed by the elevation axis and the azimuth axis of the turntable is coplanar with the camera of the collimator;

[0125] S3-1-4: Determine and obtain the zero point coordinate (for example, (x, y) of the turntable according to the current azimuth angle (for example, a) and the elevation angle (for example, e) of the turntable. ​​​​

[0126] wherein the zero position can be denoted as (x0, y0, z0), and can specifically refer to the optimal optical fiber coupling position of the camera of the collimator device.

[0127] Based on the above embodiment, the zero point coordinates of the turntable can be accurately calibrated according to the preset calibration rule by using the collimator device and the first cubic mirror.

[0128] In some embodiments, referring to FIG. 6, the establishment of the turntable reference coordinate system, the turntable zero point coordinate system, and the laser terminal coordinate system can include the following contents: Figure 3 S3-2-1: establishing a turntable zero point coordinate system based on the second cubic mirror according to a preset calibration rule;

[0129] S3-2-2: arranging a first cubic mirror at a side wall position of the turntable; and establishing a turntable reference coordinate system based on the first cubic mirror;

[0130] S3-2-3: disassembling the zero point measurement tool in the current pose state of the turntable;

[0131] S3-2-4: installing a laser terminal at the center position of the turntable; and arranging a third cubic mirror on the laser terminal;

[0132] S3-2-5: establishing a laser terminal coordinate system based on the third cubic mirror.

[0133] wherein the vector position of the first cubic mirror can be denoted as (x1, y1, z1) ; the vector position of the second cubic mirror can be denoted as (x2, y2, z2) ; and the vector position of the third cubic mirror can be denoted as (x3, y3, z3).

[0134]

[0135] The turntable zero point coordinate system, the turntable reference coordinate system, and the laser terminal coordinate system all satisfy the right-hand rule.

[0136] Further, the turntable zero point coordinate system can be equivalent to a satellite orbit coordinate system (which can be denoted as XYZ) of a target satellite. Referring to FIG. 7, the X axis points to the orbit advancing direction, the Z axis points to the center of the earth, and the Y axis is the right-hand direction of the X and Z axes. Figure 5

[0137] Based on the above embodiment, the turntable reference coordinate system, the turntable zero point coordinate system, and the laser terminal coordinate system can be accurately determined and established in the satellite laser link test system according to the preset calibration rule.

[0138] ​​​​​​​In some embodiments, referring to Figure 6 In the state that the rotary table is at the zero point coordinate, the angle deviation correction matrix of the laser terminal coordinate system and the rotary table zero point coordinate system is determined based on the rotary table reference coordinate system, the rotary table zero point coordinate system, and the laser terminal coordinate system. In specific implementation, the following contents can be included:

[0139] S6-1: In the state that the rotary table is at the zero point coordinate, install the zero point calibration tool on the rotary table; and use the theodolite to measure and calibrate the first measurement matrix of the rotary table zero point coordinate system relative to the rotary table reference coordinate system;

[0140] S6-2: Install the laser terminal on the rotary table; and use the theodolite to measure and calibrate the second measurement matrix of the laser terminal coordinate system relative to the rotary table reference coordinate system;

[0141] S6-3: According to the first measurement matrix and the second measurement matrix, determine the angle deviation correction matrix of the laser terminal coordinate system and the rotary table zero point coordinate system.

[0142] In specific implementation, the current pose of the rotary table can be controlled to be unchanged according to a preset calibration rule; and in the state that the rotary table is at the zero point coordinate, the angle deviation correction matrix can be determined in combination with the use of the theodolite.

[0143] The first measurement matrix can be denoted as Specifically, it can refer to the transformation matrix from the rotary table reference coordinate system to the rotary table zero point coordinate system.

[0144] The second measurement matrix can be denoted as Specifically, it can refer to the transformation matrix from the rotary table reference coordinate system to the laser terminal coordinate system.

[0145] The zero point calibration tool can specifically refer to a component used to assist in calibrating the rotary table.

[0146] In specific implementation, the following measurement relationships exist between the coordinate systems: , .

[0147] Based on the above measurement relationships, the transformation relationship between the coordinates in the rotary table zero point coordinate system and the coordinates in the laser terminal coordinate system can be further determined, that is: .

[0148] Further, according to the above transformation relationship, the transformation matrix between the coordinates in the laser terminal coordinate system and the coordinates in the rotary table coordinate system in the state that the rotary table is at the zero point coordinate can be determined: ; and the transformation matrix is determined as the angle deviation correction matrix of the laser terminal coordinate system and the rotary table zero point coordinate system.

[0149] Based on the above embodiment, the angle deviation correction matrix required can be accurately determined according to the preset calibration rule in combination with the measurement relationship between the plurality of coordinate systems, and the space unified operation for the satellite laser link test system is completed.

[0150] In some embodiments, after determining the zero point coordinate of the turntable according to the preset calibration rule, the method can further include the following content when implemented:

[0151] S11: When the turntable is in the state of the zero point coordinate, turn on the laser of the laser terminal according to the preset calibration rule; and adjust the azimuth angle and the elevation angle of the laser terminal, so that the optical axis of the laser terminal and the optical axis of the camera of the collimator device are coaxial; and the laser terminal and the camera of the collimator device simultaneously observe a required light spot;

[0152] S12: Determine and obtain the zero point coordinate of the laser terminal according to the current azimuth angle and the elevation angle of the laser terminal.

[0153] The required light spot can be a circular light spot that is complete and regular and located at the central position of the field of view of the camera.

[0154] When the laser terminal is fixedly installed on the turntable, the working parameters of the laser terminal and the working parameters of the turntable can be set, such as the camera exposure time, the transmit-receive wavelength, the polarization parameter, etc. At the same time, the working parameters of the collimator device can also be set.

[0155] Based on the above embodiment, the zero point coordinate of the laser terminal can also be accurately determined according to the preset calibration rule, so that the operation of the laser terminal can be more accurately controlled subsequently according to the zero point coordinate of the laser terminal.

[0156] In some embodiments, after determining the angle deviation correction matrix of the laser terminal coordinate system and the turntable zero point coordinate system, the method can further include the following content when implemented: using the time synchronization device to perform corresponding time alignment processing on the data processing end, the laser terminal, the turntable, and the turntable controller respectively.

[0157] Based on the above embodiment, the time alignment processing using the time synchronization device can be used to better complete the time unified operation for the satellite laser link test system.

[0158] In some embodiments, the time alignment processing of the data processing end, the laser terminal, the turntable, and the turntable controller using the time synchronization device can include the following content when implemented:

[0159] The time code is sent to a data processing end by using a time system device, the preset trigger signal is sent to a turntable, the preset time code and the preset trigger signal are sent to a turntable controller, the preset time code, the preset trigger signal and the preset transmission configuration signal are sent to a ground detection terminal, and the preset trigger signal and the preset transmission configuration signal are sent to a laser terminal. For details, please refer to Figure 4 as shown.

[0160] The preset trigger signal can be a 1PPS signal. The 1PPS (1 Pulse Per Second) can refer to one pulse per second. In specific implementation, the preset trigger signal can be used for corresponding synchronization triggering.

[0161] The preset transmission configuration signal can be a 10M / 100M signal. The 10M / 100M signal is used to define the upper limit of the data transmission speed as 10 Mbps (Megabits per second) or 100 Mbps. In specific implementation, the preset transmission configuration signal can be used to balance the communication efficiency and network performance, and ensure the communication quality based on the laser link.

[0162] The time code can be used to unify the time reference of different devices in the satellite laser link test system.

[0163] Based on the above embodiment, by jointly using the time code, the preset trigger signal and the preset transmission configuration signal, the time alignment processing for the satellite laser link test system can be accurately and comprehensively completed, the space of the test system is unified, and thus the error caused by the time delay and the like in the subsequent simulation test process can be avoided, and the accuracy of the simulation test is further improved.

[0164] In some embodiments, the orbit and attitude data can carry at least a timestamp; wherein the timestamp can be used to indicate the running control time point of the turntable and / or the laser terminal in the simulation test process.

[0165] Correspondingly, after obtaining the orbit and attitude data of the target satellite, the method can further include the following content in specific implementation:

[0166] S21: determining a first initial time point according to the orbit and attitude data, and a first advance time point based on the first initial time point;

[0167] S22: based on the first advance time point, the data processing end sends corresponding first attitude and orbit data and second attitude and orbit data to the turntable controller and the ground detection terminal respectively according to the orbit and attitude data, so that the turntable controller and the ground detection terminal control the laser terminal and the turntable to run respectively according to the first attitude and orbit data and the second attitude and orbit data.

[0168] In actual implementation, the first data processing end can send the first attitude data and the second attitude data to the terminal ground detector and the two-dimensional turntable controller, respectively, based on the orbit and attitude data.

[0169] In actual implementation, the start time of the current simulation of the laser link capture, tracking and link establishment can be determined as the first initial time point (for example, denoted as T0) based on the orbit and attitude data and the time code. The first advance time point (for example, denoted as T0') can be determined based on the first initial time point and the preset advance time length. The advance time length can be determined based on the laser link capture, tracking and link establishment reflected by the orbit and attitude data, the device performance parameters of the related devices in the system, and the estimated time consumption of data processing. Generally, the advance time length can be 1 second.

[0170] In particular, the advance time length can be determined based on the historical transmission and processing records of the related data and through clustering processing.

[0171] In actual implementation, the first attitude data for the two-dimensional turntable controller can be determined based on the orbit and attitude data by the first data processing end. Meanwhile, the second attitude data for the terminal ground detector can be determined based on the orbit and attitude data by the second data processing end.

[0172] Based on the above embodiment, the first advance time point before the first initial time point is determined and used. When the first advance time point is reached, the first data processing end and the second data processing end can prepare the first attitude data and the second attitude data based on the orbit and attitude data before the first initial time point is reached. The first attitude data and the second attitude data can be provided to the corresponding two-dimensional turntable controller and terminal ground detector in advance (for example, the first data processing end and the second data processing end can broadcast the orbit and attitude data to the terminal ground detector and the two-dimensional turntable controller, respectively), so as to ensure that no error is caused by the transmission time delay of the attitude data in the subsequent simulation of the laser link capture, tracking and link establishment.

[0173] In some embodiments, the first attitude data and the second attitude data can include a corresponding time stamp.

[0174] In particular, the first attitude data and the second attitude data can include one or more of the following data: the position coordinates of the target star based on the inertial coordinate system (for example, J2000 position coordinates), the velocity of the target star, the attitude quaternion of the target star, the roll, pitch and yaw attitude angles and angular velocities of the target star, the sun vector, and a time stamp.

[0175] When the target star includes the first satellite and the second satellite, the position coordinates of the target star based on the inertial coordinate system in the first attitude and orbit data and the second attitude and orbit data include the position coordinates of the first star based on the inertial coordinate system and the position coordinates of the second star based on the inertial coordinate system for the first laser terminal on the side of the first satellite and the first turntable. The velocity of the target star includes the velocity of the first satellite and the velocity of the second satellite. The attitude quaternion of the target star includes the attitude quaternion of the first star. The roll, pitch, and yaw attitude angles and angular velocities of the target star include the roll, pitch, and yaw attitude angles and angular velocities of the first star.

[0176] In some embodiments, after the first advance time point, the data processing end sends the corresponding first attitude and orbit data and the second attitude and orbit data to the turntable controller and the ground detection terminal, respectively, based on the orbit and attitude data, the method can further include the following content during implementation:

[0177] S31: The turntable controller generates a first control amount for the turntable based on the first attitude and orbit data and the angle deviation correction matrix.

[0178] S32: Starting from the first initial time point, the turntable controller sends the corresponding first control amount to the turntable based on the preset trigger signal, so that the turntable simulates the operation of the target satellite based on the first control amount starting from the first initial time point.

[0179] The first attitude and orbit data and the second attitude and orbit data can also carry a timestamp.

[0180] Correspondingly, during implementation, the turntable controller can generate and send the corresponding first control amount to the turntable based on the timestamp in the first attitude and orbit data and in combination with the preset trigger signal. Similarly, the ground detection terminal can generate and send the corresponding second control amount to the laser terminal based on the timestamp in the second attitude and orbit data and in combination with the preset trigger signal. In this way, the timestamp in the attitude and orbit data can be used in combination with the preset trigger signal to make the generation and sending of the first control amount and the second control amount relatively more timely and synchronized.

[0181] During implementation, the turntable controller can broadcast the corresponding first control amount to the turntable based on a preset transmission protocol (for example, UDP protocol) and according to a preset trigger signal and a preset frequency (for example, 10 Hz); wherein the preset trigger signal corresponds to the preset frequency. The turntable can operate the rotation based on the first control amount to simulate the satellite movement.

[0182] Similarly, the ground inspection terminal can broadcast the corresponding second control quantity to the laser terminal based on the preset transmission protocol, according to the preset trigger signal and the preset frequency. The laser terminal can operate according to the second control quantity, specifically by sending a corresponding light beam through the pointing parallel light device to simulate the establishment of a laser link with the opposite end (for example, the second satellite).

[0183] In some embodiments, referring to Figure 7 As shown in the above, the first control quantity for the turntable can be generated by the turntable controller according to the first attitude and orbit data and the angle deviation correction matrix, and in specific implementation, the following contents can be included:

[0184] S7-1: According to the first attitude and orbit data, a first pointing vector of the target satellite is determined; a first conversion matrix of the inertial coordinate system of the target satellite to the satellite orbit coordinate system, a second conversion matrix of the satellite orbit coordinate system to the satellite body coordinate system based on the attitude of the satellite, and a third conversion matrix of the satellite body coordinate system to the terminal installation coordinate system are obtained;

[0185] S7-2: According to the first conversion matrix, the second conversion matrix, and the third conversion matrix, a corresponding second pointing vector is calculated using the first pointing vector;

[0186] S7-3: The second pointing vector is processed using the angle deviation correction matrix to obtain a third pointing vector based on the satellite laser link test system;

[0187] S7-4: According to the third pointing vector, a first control quantity for the turntable is determined.

[0188] Wherein, the first pointing vector of the target satellite can be specifically understood as the pointing vector of the primary star in the target satellite relative to the target star corresponding to the primary star.

[0189] Specifically, taking the target satellite including a first satellite and a second satellite as an example, the first pointing vector of the target satellite can include the pointing vector of the first satellite relative to the second satellite and / or the pointing vector of the second satellite relative to the first satellite.

[0190] The first conversion matrix can be denoted as , the second conversion matrix can be denoted as , and the third conversion matrix can be denoted as The inertial coordinate system can also be J2000 coordinate system.

[0191] In implementation, the position coordinates of the first satellite based on the inertial coordinate system and the position coordinates of the second satellite based on the inertial coordinate system can be determined respectively according to the first attitude and orbit data; and then the corresponding first pointing vector can be calculated according to the position coordinates of the first satellite and the position coordinates of the second satellite.

[0192] For example, the first pointing vector for the first satellite (e.g., the pointing vector of the first satellite relative to the second satellite) can be calculated as: and the first pointing vector for the second satellite (e.g., the pointing vector of the second satellite relative to the first satellite) can be calculated as: . Wherein the position coordinates of the first satellite based on the inertial coordinate system are (x1, y1, z1), and the position coordinates of the second satellite based on the inertial coordinate system are (x2, y2, z2). .

[0193] Taking the first satellite as an example, the corresponding second pointing vector can be calculated according to the first conversion matrix, the second conversion matrix, the third conversion matrix, and the first pointing vector by the following formula:

[0194]

[0195] Wherein, is the second pointing vector of the target satellite, is the unit vector of the first pointing vector.

[0196] Further, the second pointing vector can be used to multiply the angle deviation correction matrix on the left to obtain the third pointing vector based on the satellite laser link test system (which can be denoted as ).

[0197] Specifically, the third pointing vector can be calculated according to the following formula: .

[0198] Then, the first control amount for the turntable can be further calculated according to the third pointing vector.

[0199] Based on the above embodiment, the first control amount for the turntable at the corresponding time point in the satellite laser link test system can be accurately determined according to the first attitude and orbit data combined with the angle deviation correction matrix, so that the specific operation of the turntable can be accurately controlled subsequently.

[0200] In some embodiments, the determination of the first control amount for the turntable according to the third pointing vector in implementation can include the following contents:

[0201] ​​​​​S41: Based on the third pointing vector, according to the preset angle mapping relationship, the third pointing vector is converted into the corresponding first azimuth pointing angle and first pitch pointing angle;

[0202] S42: Negate the first azimuth pointing angle and the first pitch pointing angle respectively to obtain the corresponding second azimuth pointing angle and second pitch pointing angle;

[0203] S43: Determine the first control quantity for the turntable based on the second azimuth pointing angle and the second pitch pointing angle.

[0204] In practical implementation, based on the preset angle mapping relationship, the third pointing vector can be converted into the corresponding first azimuth pointing angle and first pitch pointing angle according to the following formula:

[0205]

[0206] in, The first pitch pointing angle (e.g., the pitch pointing angle of the first satellite to the second satellite), in radians (rad). The first azimuth pointing angle (e.g., the azimuth pointing angle of the first satellite relative to the second satellite), in radians (rad). It is the third pointing vector; , , These are the first pointing component, the second pointing component, and the third pointing component in the third pointing vector, respectively.

[0207] In practice, considering that the turntable and the laser terminal move in opposite directions, it is necessary to take the negative values ​​when calculating the second azimuth pointing angle and the second pitch pointing angle for the turntable.

[0208] Specifically, the first azimuth angle and the first pitch angle can be negativeed according to the following formula to obtain the corresponding second azimuth angle and second pitch angle:

[0209]

[0210] in, This is the second pitch pointing angle. This is the second azimuth pointing angle.

[0211] In practice, the control components of the azimuth pointing angle for the turntable can be calculated based on the second azimuth pointing angle and the second pitch pointing angle. ), and the control components of the pitch pointing angle ( ); and then combine the above azimuth and pitch control components to obtain the corresponding first control quantity.

[0212] Specifically, for the initial time point, the initial first control amount can be calculated in combination with the zero point coordinate of the turntable. For example, according to the zero point coordinate of the turntable, the second azimuth pointing angle, and the second elevation pointing angle, the control component for the azimuth pointing angle of the turntable (A) and the control component for the elevation pointing angle of the turntable (E) can be calculated, respectively; and the first control amount corresponding to the above-mentioned control components for the azimuth pointing angle and the control components for the elevation pointing angle can be obtained by combining the above-mentioned control components. + +

[0213] It should be noted that the first control amount calculated based on the above-mentioned manner is an ideal control amount without considering any interference factors. When it is necessary to more accurately simulate the laser link capture and tracking of the target satellite in the real situation, other interference factors also need to be considered, and then the corresponding pointing difference simulation amount needs to be introduced.

[0214] Based on the above-mentioned embodiments, the first control amount for the turntable can be accurately calculated by the turntable controller according to the corresponding conversion relationship. Similarly, the second control amount for the laser terminal can be accurately calculated by the ground detection terminal.

[0215] In some embodiments, after the first control amount for the turntable is determined according to the second azimuth pointing angle and the second elevation pointing angle, when other interference factors in the real situation are considered, the following content can also be included:

[0216] S51: determining a pointing difference simulation amount about the target satellite;

[0217] S52: adjusting the first control amount by using the pointing difference simulation amount.

[0218] The pointing difference simulation amount can be understood as a deviation amount for the laser terminal and / or the turntable that needs to be additionally considered when the simulation test is performed based on the satellite laser link test system, which is caused by interference factors such as assembly error of the target satellite, satellite launch vibration, or satellite platform attitude jitter. The deviation amount is a real deviation amount existing on the target satellite. Specifically, the pointing difference simulation amount can be a deviation amount in the pointing direction of the laser terminal; or can be a deviation amount when the turntable moves.

[0219] ​​In specific implementation, the attribute parameters of the target satellite and the historical records of the laser link of other reference satellites similar to the target satellite can be acquired; the target interference factors existing when the target satellite performs laser link capture, tracking and chain establishment are determined according to the attribute parameters of the target satellite and the historical records of the laser link of other reference satellites; the target interference data for the target interference factors are determined in combination with the orbit and attitude data of the target satellite; and the corresponding pointing difference analog quantity is determined according to the target interference data. Specifically, for the star open-loop pointing scenario, the closed-loop control period of the turntable can also be set to be less than or equal to a preset period length (for example, 0.12 ms) to better simulate the motion of the target satellite in the open-loop pointing scenario.

[0220] In specific implementation, the obtained orbit and attitude data of the target satellite can be fused with the target interference data related to the real laser chain establishment of the target satellite. Accordingly, the target interference data can be directly extracted from the orbit and attitude data of the target satellite.

[0221] Specifically, the first control quantity can be adjusted according to the following formula:

[0222]

[0223]

[0224] wherein, is the azimuth pointing angle component in the adjusted first control quantity, is the elevation pointing angle component in the adjusted first control quantity, is the azimuth pointing angle component in the pointing difference analog quantity, is the elevation pointing angle component in the pointing difference analog quantity. The total pointing difference analog quantity can be expressed as: .

[0225] Based on the above embodiments, by fully considering the influence of other interference factors in the real environment on the target satellite, the first control quantity is adjusted by introducing and using the pointing difference analog quantity, a relatively more real adjusted first control quantity can be obtained, and then the subsequent turntable can perform simulation test based on the adjusted first control quantity. Similarly, the second control quantity can be adjusted by the ground detection terminal to obtain a relatively more real second control quantity.

[0226] In some embodiments, the first control quantity is sent to the turntable by the turntable controller according to the preset trigger signal from the first initial time point. In specific implementation, the method can include:

[0227] According to a preset trigger signal, a turntable controller sends a first control quantity data packet to a turntable; wherein the first control quantity data packet comprises a first control quantity of the turntable at each time point within a specified time period based on a first initial time point.

[0228] Further, the first control quantity data packet can further comprise time information corresponding to a second control quantity at each time point. Accordingly, after receiving the first control quantity data packet, the turntable can parse the first control quantity at each time point within the specified time period; and according to the time information carried by the first control quantity, when the corresponding time point is reached, the corresponding movement is automatically performed according to the first control quantity at the time point.

[0229] Similarly, the ground detection terminal can send a second control quantity data packet to the laser terminal in one time according to the above method. For example, the ground detection terminal can calculate the second control quantity at multiple time points (e.g., T0, T0+250ms, T0+500ms, T0+750ms) within a specified time period including the first initial time point; wherein the length of the specified time period can be determined according to a preset frequency; and according to the second control quantity at the multiple time points, a corresponding second control quantity data packet is generated by packet filling; and the second control quantity data packet is sent to the laser terminal at the first initial time point. This sending method can be referred to as a first sending method.

[0230] In some embodiments, the turntable controller sends the corresponding first control quantity to the turntable according to a preset trigger signal from the first initial time point, and the specific implementation can further include:

[0231] According to a preset trigger signal, a turntable controller sends a first control quantity data packet to a turntable; wherein the first control quantity data packet comprises a first control quantity of the turntable at each time point within a specified time period based on a first initial time point.

[0232] In specific implementation, the turntable controller can determine each sending time point within the specified time period according to a preset frequency from the first initial time point; and at each sending time point, the turntable controller generates and sends the first control quantity corresponding to the sending time point to the turntable. This sending method can be referred to as a second sending method. Accordingly, the turntable can perform corresponding movement according to the received first control quantity.

[0233] Similarly, the ground detection terminal can send a second control quantity data packet to the laser terminal in one time according to the above method. For example, the ground detection terminal can calculate the second control quantity at multiple time points (e.g., T0, T0+250ms, T0+500ms, T0+750ms) within a specified time period including the first initial time point; wherein the length of the specified time period can be determined according to a preset frequency; and according to the second control quantity at the multiple time points, a corresponding second control quantity data packet is generated by packet filling; and the second control quantity data packet is sent to the laser terminal at the first initial time point. This sending method can be referred to as a first sending method.

[0234] In some embodiments, the preset early time length can also be detected to be greater than a preset time length threshold. According to the detection result, when greater than the preset time length threshold, the second sending mode can be used for sending the relevant control quantity (including the first control quantity and / or the second control quantity). On the contrary, according to the detection result, when less than or equal to the preset time length threshold, the first sending mode can be used for sending the relevant control quantity.

[0235] Based on the above embodiments, different situations can be effectively distinguished, and corresponding methods can be used for sending the relevant control quantity according to different situations, so as to reduce the time delay generated in the data interaction process, and ensure accurate and reliable simulation of the laser link capture and tracking process.

[0236] In some embodiments, the first control quantity and the second control quantity can also carry corresponding time stamps. In specific implementation, at the beginning (for example, T0), the turntable can trigger the relevant movement in the effective adjacent time interval (for example, [T0-10ms, T0+10ms]) at the first initial time point according to the first control quantity based on the time stamp in the first control quantity and in combination with a preset trigger signal. Similarly, the laser terminal can trigger the relevant movement in the effective adjacent time interval at the first initial time point according to the second control quantity based on the time stamp in the second control quantity and in combination with a preset trigger signal. In the remaining time period after the first initial time point, the turntable and the laser terminal can trigger the movement at other time points (for example, T0+250ms, T0+500ms, T0+750ms) in the remaining time period based on the time stamp in the first control quantity and the time stamp in the second control quantity, respectively, and in combination with a preset trigger signal. Thus, the turntable and the laser terminal (including multiple turntables and multiple laser terminals) can be effectively ensured to complete the relevant movement at the corresponding time points in time and synchronously, and the error influence caused by the time delay can be effectively reduced.

[0237] In some embodiments, in specific implementation, by controlling the laser terminal and the turntable to move according to the corresponding second control quantity and the first control quantity from the first initial time point, respectively, the laser terminal and the turntable can be driven to accurately simulate the movement of the relevant satellite orbit (for example, the double-satellite orbit movement of the first satellite and the second satellite), and the ground simulation of the space satellite laser link capture and tracking process (for example, the inter-satellite laser link capture and tracking process between the real first satellite and the second satellite) can be realized.

[0238] Specifically, the laser link capture and tracking process in the star open-loop pointing scenario can be simulated, so that the first end (including: the first laser terminal and the first turntable) and the second end (including: the second laser terminal and the second turntable) corresponding to the first satellite and the second satellite in the target satellite respectively point to each other according to the orbit open-loop pointing, one end stares and one end scans, so that the test system can be well adapted to the star open-loop pointing scenario, and the related laser link capture and tracking process can be accurately simulated.

[0239] The star open-loop pointing scenario can refer to a technical scenario in which a star sensor coaxial with the laser terminal is used to take real-time star images to provide high-precision attitude reference, so as to correct the pointing target accuracy in real time and eliminate errors such as large pointing difference caused by factors such as release of orbit gravity, thermal deformation, long-term orbit extrapolation error and the like of the laser terminal. Through the star open-loop pointing, reliable guarantee can be provided for realizing long-term stability and rapid re-link of the inter-satellite laser link.

[0240] In some embodiments, when the target satellite includes a first satellite and a second satellite, there can be no relative motion in space between the first end (including: the first laser terminal and the first turntable) and the second end (including: the second laser terminal and the second turntable) during the simulation of the laser link capture and tracking process. The test system cannot directly realize the simulation of the lead-sighting in space. In specific implementation, according to specific conditions and processing requirements, the following modes can also be selected: one is to close the lead-sighting function of the laser terminal; two is to calculate the lead-sighting offset range in advance, and set the median value of the lead-sighting to reduce the coaxiality error caused by the lead-sighting by about half; three is to select an orbit period with a small lead-sighting angle; four is to increase the emission power of the laser terminal at the other end to cover the lead-sighting error.

[0241] In some embodiments, after the target control quantity is generated according to the orbit and attitude data and the angle deviation correction matrix, and is used to control the operation of the laser terminal and the turntable to simulate the laser link capture and tracking of the target satellite, the method can further include the following content:

[0242] S61: Collecting and determining target test results according to target characteristic parameters in the simulation of the laser link capture and tracking process of the target satellite;

[0243] S62: Determining a matching target link establishment scheme according to the target test results;

[0244] S63: Performing laser link capture and tracking of the target satellite according to the target link establishment scheme.

[0245] In the process of simulating the laser link of the target satellite, the characteristic parameters (e.g., the time length of the laser link, the number of failed attempts to establish the laser link, the time length of stable persistence of the laser link, the open-loop pointing parameter of the laser terminal, etc.) can be collected at the corresponding key time points according to the test requirements, as the target characteristic parameters.

[0246] Further, the open-loop pointing test and / or the tracking accuracy test can be performed according to the target characteristic parameters through model processing, and the corresponding open-loop pointing test result and / or the tracking accuracy test result can be obtained as the final target test result.

[0247] The key time points include at least one of the following: the time point at which the angular velocity of the target satellite is maximum, the time point at which the angular velocity of the target satellite is minimum, the time point at which the angular velocity of the target satellite is average, etc.

[0248] The target test result includes at least one of the following: the open-loop pointing test result, the tracking accuracy test result, the link stability test result, etc.

[0249] It should be noted that the above-mentioned target characteristic parameters and target test results are only illustrative. In specific implementations, other types of data can be included in the target characteristic parameters and target test results according to specific application scenarios and test requirements. The present specification does not limit this.

[0250] In addition, after the laser link of the target satellite is successfully simulated, a preset time length (e.g., 5 minutes) can be maintained, and the relevant stability index parameters can be collected as the target characteristic parameters within the preset time length. When the preset time length is reached, the laser link is automatically disconnected, and the next simulation of the laser link is performed within a specified time length. For example, the communication gear can be set to BPSK 5Gbps, and the number of times of re-capturing, the longest capture time, the shortest capture time, the communication error rate, etc. can be monitored as the relevant stability index parameters within the preset time length to perform long-term stability testing and obtain the corresponding target test result.

[0251] In the above-mentioned link establishment process, the relevant characteristic parameters during the link establishment process can be collected. Further, the stability index parameters after the link establishment is completed and the relevant characteristic parameters during the link establishment process can be combined as the target characteristic parameters. The link stability test can be performed according to the target characteristic parameters, and the corresponding stability test result can be obtained as the target test result.

[0252] In this way, various types of tests can be performed in the process of simulating the laser link of the target satellite according to specific test requirements to obtain more comprehensive target test results to meet various test requirements.

[0253] Before the embodiment is implemented, a large number of historical laser chain link establishment records can be collected; the laser chains recorded in the historical laser chain link establishment records are evaluated, and the historical laser chain link establishment records with an evaluation higher than a preset evaluation threshold are determined as sample historical records; feature parameters in a laser chain capture link establishment process are extracted according to the sample historical records; the sample historical records are clustered according to the feature parameters, and a plurality of sample record data groups are obtained; each sample record data group corresponds to a combination of feature parameter ranges and contains common operation features in a plurality of sample historical records; for each sample record data group, the common operation features are combined to generate a preset link establishment scheme corresponding to the combination of feature parameter ranges of the sample record data group; and the preset link establishment schemes are combined to obtain a preset link establishment scheme library.

[0254] In the implementation, the target test result can be used to search the preset link establishment scheme library to determine a feature parameter range combination hit by the target test result; and a preset link establishment scheme corresponding to the feature parameter range combination is determined as a target link establishment scheme. Then, the target link establishment scheme can be used to guide the capture link establishment for the target satellite.

[0255] In this way, the target link establishment scheme can be used to efficiently and accurately guide the capture link establishment for the real target satellite, and the laser link established can have high stability and reliability.

[0256] In some embodiments, after the laser link capture link establishment test of the current round is completed based on the first initial time point and the first advance time point according to the orbit and attitude data and in the above manner, the orbit and attitude data of the next round can be obtained; the second initial time point and the second advance time point are determined according to the orbit and attitude data of the next round in combination with the time code; and the laser link capture link establishment test of the next round is performed based on the second initial time point and the second advance time point. In this way, the multi-round laser link capture link establishment test can be accurately performed to obtain multi-round target test results; and the multi-round target test results can be jointly used to determine a test result with relatively higher accuracy and smaller error as the final target test result.

[0257] In the implementation, for example, when the camera of the collimator device displays that the light spot disappears, it indicates that the laser link is interrupted, and it is determined that the stability of the laser link is poor and does not meet the stability requirement. For another example, when the laser terminal starts to establish, the camera of the collimator device displays the light spot very quickly, such as displaying the light spot within a preset time, it indicates that the inter-satellite capture link establishment capability of the laser terminal is good, and it is determined that the capture link establishment capability requirement is met.

[0258] In addition, the camera using the collimator device can also calculate the center of mass position of the light spot to determine the distance between the center of mass position of the light spot and the zero position of the collimator device. By using the distance between the center of mass position of the light spot and the zero position of the collimator device, the laser terminal inter-satellite capture and tracking link capability can be quantitatively determined, so as to facilitate subsequent targeted optimization and improvement of the inter-satellite capture and tracking link strategy and parameters of the target satellite.

[0259] As can be seen from the above, based on the satellite laser link verification test method provided in the embodiments of the present specification, the zero point coordinates of the turntable are determined according to the preset calibration rules; and the turntable reference coordinate system, the turntable zero point coordinate system, and the laser terminal coordinate system are established; in the state that the turntable is at the zero point coordinates, the angle deviation correction matrix of the laser terminal coordinate system and the turntable zero point coordinate system is determined by jointly using the above-mentioned turntable reference coordinate system, the turntable zero point coordinate system, and the laser terminal coordinate system, so as to realize the spatial unification of the satellite laser link test system; after obtaining the orbit and attitude data of the target satellite for simulation test, the corresponding target control quantity can be generated according to the orbit and attitude data and the angle deviation correction matrix; and the laser terminal and the turntable in the satellite laser link test system are controlled by using the control quantity to operate, so as to simulate the laser link capture and tracking link of the target satellite. Thus, a unified spatial reference can be established, the spatial coordinate deviation of the test system can be corrected in a targeted manner, and the deviation of the simulation test relative to the actual situation can be effectively reduced, so as to accurately simulate the laser link capture and tracking link process of the target satellite, and to obtain a more accurate and higher reference value target test result.

[0260] The embodiments of the present specification provide a computer device, which is shown in Figure 8 The computer device includes a network communication port 801, a processor 802, and a memory 803, which are connected by internal cables so that specific data interaction can be performed.

[0261] The network communication port 801 can be specifically used to receive a test triggering instruction and orbit and attitude data of a target satellite.

[0262] The processor 802 can be specifically used to determine the zero point coordinates of the turntable according to the preset calibration rules; and establish the turntable reference coordinate system, the turntable zero point coordinate system, and the laser terminal coordinate system; in the state that the turntable is at the zero point coordinates, determine the angle deviation correction matrix of the laser terminal coordinate system and the turntable zero point coordinate system based on the turntable reference coordinate system, the turntable zero point coordinate system, and the laser terminal coordinate system; obtain the orbit and attitude data of the target satellite; generate and use the corresponding target control quantity to control the operation of the laser terminal and the turntable according to the orbit and attitude data and the angle deviation correction matrix, so as to simulate the laser link capture and tracking link of the target satellite.

[0263] The memory 803 can be used to store corresponding instruction programs and related intermediate data.

[0264] Based on the above method, the relevant structural performance of the computer device can be effectively utilized, the data processing speed of the electronic device is improved, and the data processing of the satellite laser link test is efficiently realized.

[0265] In the embodiment, the network communication port 801 can be a virtual port that is bound with different communication protocols, so as to send or receive different data. For example, the network communication port can be a port responsible for web data communication, a port responsible for FTP data communication, or a port responsible for mail data communication. In addition, the network communication port can also be an entity communication interface or a communication chip. For example, it can be a wireless mobile network communication chip such as GSM, CDMA, etc.; it can also be a Wifi chip; and it can also be a Bluetooth chip.

[0266] In the embodiment, the processor 802 can be implemented in any appropriate manner. For example, the processor can take the form of, for example, a microprocessor or processor and a computer readable medium storing computer readable program code (e.g., software or firmware) executable by the (micro)processor, logic gates, switches, an Application Specific Integrated Circuit (ASIC), a programmable logic controller, and an embedded microcontroller, etc. The present specification is not limited in this regard.

[0267] In the embodiment, the memory 803 can include multiple levels, and in a digital system, as long as it can save binary data, it can be a memory; in an integrated circuit, a circuit without a physical form and with a storage function is also called a memory, such as RAM, FIFO, etc.; in a system, a storage device with a physical form is also called a memory, such as a memory stick, a TF card, etc.

[0268] The embodiment of the present specification also provides a computer readable storage medium based on the above satellite laser link verification test method, the computer readable storage medium stores computer program instructions, and when the computer program instructions are executed, the following is implemented: determining a zero point coordinate of a turntable according to a preset calibration rule; and establishing a turntable reference coordinate system, a turntable zero point coordinate system, and a laser terminal coordinate system; determining an angle deviation correction matrix of the laser terminal coordinate system and the turntable zero point coordinate system based on the turntable reference coordinate system, the turntable zero point coordinate system, and the laser terminal coordinate system when the turntable is in a state of the zero point coordinate; obtaining orbit and attitude data of a target satellite; generating and controlling the laser terminal and the turntable to operate by using corresponding target control quantities according to the orbit and attitude data and the angle deviation correction matrix, so as to simulate laser link capture and chain establishment of the target satellite.

[0269] In the embodiment, the storage medium includes but is not limited to a random access memory (RAM), a read-only memory (ROM), a cache, a hard disk drive (HDD), or a memory card. The memory can be used to store computer program instructions. The network communication unit can be an interface set according to a standard specified by a communication protocol, and is used for network connection communication.

[0270] In the embodiment, the functions and effects realized by the program instructions stored in the computer readable storage medium can be explained by comparing with other embodiments, and will not be described here.

[0271] The embodiment of the present specification also provides a computer program product, which at least contains a computer program, and when the computer program is executed by a processor, the following method steps are implemented: determining a zero point coordinate of a turntable according to a preset calibration rule; and establishing a turntable reference coordinate system, a turntable zero point coordinate system, and a laser terminal coordinate system; determining an angle deviation correction matrix of the laser terminal coordinate system and the turntable zero point coordinate system based on the turntable reference coordinate system, the turntable zero point coordinate system, and the laser terminal coordinate system when the turntable is in a state of the zero point coordinate; obtaining orbit and attitude data of a target satellite; generating and controlling the laser terminal and the turntable to operate by using corresponding target control quantities according to the orbit and attitude data and the angle deviation correction matrix, so as to simulate laser link capture and chain establishment of the target satellite.

[0272] Referring to Figure 9 The embodiment of the present specification also provides a satellite laser link verification test device, which specifically can include the following structure modules:

[0273] The calibration module 901 can be specifically configured to determine the zero point coordinates of the turntable according to a preset calibration rule, and establish a turntable reference coordinate system, a turntable zero point coordinate system, and a laser terminal coordinate system.

[0274] The determination module 902 can be specifically configured to determine an angle deviation correction matrix of the laser terminal coordinate system and the turntable zero point coordinate system based on the turntable reference coordinate system, the turntable zero point coordinate system, and the laser terminal coordinate system when the turntable is in a state of the zero point coordinates.

[0275] The acquisition module 903 can be specifically configured to acquire orbit and attitude data of a target satellite.

[0276] The processing module 904 can be specifically configured to generate and control the laser terminal and the turntable to operate by using a corresponding target control quantity according to the orbit and attitude data and the angle deviation correction matrix, so as to simulate laser link capture and chain establishment of the target satellite.

[0277] In some embodiments, the calibration module 901 can be specifically implemented to determine the zero point coordinates of the turntable according to a preset calibration rule in the following manner: according to a preset calibration rule, turn on the laser of the parallel light device; install a zero point measurement tooling at the center position of the turntable; and arrange a second cube mirror on the zero point measurement tooling; adjust the pose of the turntable so that the light spot formed by the light beam reflected back by the second cube mirror after the light beam emitted by the laser forms a zero point position of the camera of the parallel light device; and make the plane formed by the pitch axis and the azimuth axis of the turntable coplanar with the camera of the parallel light device; and determine and obtain the zero point coordinates of the turntable according to the current azimuth angle and pitch angle of the turntable.

[0278] In some embodiments, the calibration module 901 can be specifically implemented to establish the turntable reference coordinate system, the turntable zero point coordinate system, and the laser terminal coordinate system in the following manner: according to a preset calibration rule, establish the turntable zero point coordinate system based on the second cube mirror; arrange a first cube mirror at the side wall position of the turntable; and establish the turntable reference coordinate system based on the first cube mirror; disassemble the zero point measurement tooling in the current pose state of the turntable; install a laser terminal at the center position of the turntable; and arrange a third cube mirror on the laser terminal; and establish the laser terminal coordinate system based on the third cube mirror.

[0279] In some embodiments, when the determining module 902 is implemented, the angle deviation correction matrix between the laser terminal coordinate system and the turret zero point coordinate system can be determined based on the turret reference coordinate system, the turret zero point coordinate system, and the laser terminal coordinate system in the following manner when the turret is in the zero point coordinate state: the zero point calibration tool is installed on the turret when the turret is in the zero point coordinate state; the first measurement matrix of the calibration turret zero point coordinate system relative to the turret reference coordinate system is measured by using the theodolite; the laser terminal is installed on the turret; the second measurement matrix of the laser terminal coordinate system relative to the turret reference coordinate system is measured by using the theodolite; and the angle deviation correction matrix between the laser terminal coordinate system and the turret zero point coordinate system is determined according to the first measurement matrix and the second measurement matrix.

[0280] In some embodiments, after the zero point coordinate of the turret is determined according to the preset calibration rule, when the device is implemented, it can also be used for: opening the laser of the laser terminal according to the preset calibration rule when the turret is in the zero point coordinate state; adjusting the azimuth angle and the elevation angle of the laser terminal so that the optical axis of the laser terminal and the optical axis of the camera of the collimator device are coaxial; and the laser terminal and the camera of the collimator device simultaneously observe a required light spot; wherein the light spot is located at the central position of the field of view of the camera; and the zero point coordinate of the laser terminal is determined and obtained according to the current azimuth angle and the elevation angle of the laser terminal.

[0281] In some embodiments, after the angle deviation correction matrix between the laser terminal coordinate system and the turret zero point coordinate system is determined, when the device is implemented, it can also be used for: using the time system device to perform corresponding time alignment processing on the data processing end, the laser terminal, the turret, and the turret controller respectively.

[0282] In some embodiments, when the device is implemented, the time system device can be used to perform corresponding time alignment processing on the data processing end, the laser terminal, the turret, and the turret controller in the following manner: the time system device sends a preset time code to the data processing end, sends a preset trigger signal to the turret, sends a preset time code and a preset trigger signal to the turret controller, sends a preset time code, a preset trigger signal, and a preset transmission configuration signal to the ground detection terminal, and sends a preset trigger signal and a preset transmission configuration signal to the laser terminal.

[0283] In some embodiments, the track and attitude data can at least carry a timestamp.

[0284] Correspondingly, after obtaining the orbit and attitude data of the target satellite, the device can be further used in the implementation to: determine a first initial time point and a first advanced time point based on the first initial time point according to the orbit and attitude data; and based on the first advanced time point, send corresponding first attitude and orbit data and second attitude and orbit data to the turntable controller and the ground inspection terminal respectively by using the data processing end according to the orbit and attitude data, so that the laser terminal and the turntable are controlled according to the first attitude and orbit data and the second attitude and orbit data by the turntable controller and the ground inspection terminal respectively.

[0285] In some embodiments, after sending the corresponding first attitude and orbit data and second attitude and orbit data to the turntable controller and the ground inspection terminal respectively by using the data processing end according to the orbit and attitude data based on the first advanced time point, the device can be further used in the implementation to: generate a first control quantity for the turntable according to the first attitude and orbit data and the angle deviation correction matrix by using the turntable controller; and send the corresponding first control quantity to the turntable by using the turntable controller according to a preset trigger signal from the first initial time point, so that the turntable simulates the operation of the target satellite according to the first control quantity from the first initial time point.

[0286] In some embodiments, the device can be used in the implementation to generate the first control quantity for the turntable according to the first attitude and orbit data and the angle deviation correction matrix by using the turntable controller in the following manner: determine a first pointing vector of the target satellite according to the first attitude and orbit data; obtain a first conversion matrix from an inertial coordinate system of the target satellite to an orbit coordinate system of the target satellite, a second conversion matrix from the orbit coordinate system of the target satellite to a body coordinate system of the target satellite based on the attitude of the target satellite, and a third conversion matrix from the body coordinate system of the target satellite to a terminal installation coordinate system; calculate a corresponding second pointing vector by using the first pointing vector according to the first conversion matrix, the second conversion matrix, and the third conversion matrix; process the second pointing vector by using the angle deviation correction matrix to obtain a third pointing vector based on the satellite laser link test system; and determine the first control quantity for the turntable according to the third pointing vector.

[0287] In some embodiments, the device can be used in the implementation to determine the first control quantity for the turntable according to the third pointing vector in the following manner: convert the third pointing vector into a corresponding first azimuth pointing angle and a first pitch pointing angle according to a preset angle mapping relationship according to the third pointing vector; perform negative processing on the first azimuth pointing angle and the first pitch pointing angle respectively to obtain a corresponding second azimuth pointing angle and a second pitch pointing angle; and determine the first control quantity for the turntable according to the second azimuth pointing angle and the second pitch pointing angle.

[0288] In some embodiments, after the first control quantity for the turntable is determined according to the second azimuth pointing angle and the second elevation pointing angle, the device can further be used for determining a pointing difference analog quantity about the target satellite; and adjusting the first control quantity by using the pointing difference analog quantity.

[0289] In some embodiments, when the device is implemented, the turntable controller can send the corresponding first control quantity to the turntable according to the preset trigger signal from the first initial time point in the following manner: the turntable controller sends a first control quantity data packet to the turntable according to the preset trigger signal; wherein the first control quantity data packet comprises the first control quantity of the turntable at multiple time points within a specified time period based on the first initial time point.

[0290] In some embodiments, when the device is implemented, the turntable controller can send the corresponding first control quantity to the turntable according to the preset trigger signal from the first initial time point in the following manner: the turntable controller sends the first control quantity of the turntable at each time point within a specified time period based on the first initial time point to the turntable in sequence according to the preset trigger signal.

[0291] In some embodiments, after the laser terminal and the turntable are controlled to operate by using the corresponding target control quantity generated according to the orbit and attitude data and the angle deviation correction matrix to simulate the laser link capture, tracking and establishment of the target satellite, the device can further be used for: collecting and determining a target test result according to a target feature parameter in the process of simulating the laser link capture, tracking and establishment of the target satellite; determining a matching target establishment scheme according to the target test result; and performing the capture, tracking and establishment of the laser link of the target satellite according to the target establishment scheme.

[0292] It should be noted that the units, devices or modules and the like described in the above embodiments can be implemented by computer chips or entities, or by products with certain functions. For the convenience of description, the above devices are described as various modules with functions. Of course, in the implementation of the present specification, the functions of each module can be implemented in the same software and / or hardware, or the modules implementing the same function can be combined to implement the modules or sub-modules. The above described device embodiments are only schematic, for example, the division of the units is only a logical function division, and in actual implementation, there can be another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the displayed or discussed units can be indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0293] As can be seen from the above, the satellite laser link verification test device provided by the embodiments of the present specification can establish a unified space reference, specifically correct the spatial coordinate deviation of the test system, and further effectively reduce the deviation of the simulation test from the actual situation, accurately simulate the laser link capture and tracking process of the target satellite, and obtain more accurate and higher reference value target test results.

[0294] In a specific scenario example, the time reference unification of laser link dynamic capture and tracking ground verification can be achieved by applying the satellite laser link verification test method provided by the present specification. The specific implementation process can be referred to as follows.

[0295] In this scenario example, considering that based on the existing method, when testing, the given trajectory is injected into the two-dimensional turntable instead of the time-stamped orbit and attitude data, so that the two-dimensional turntable and the laser terminal are not aligned through time-stamped orbit and attitude data, but the orbit and attitude data are first sequenced and triggered by the 1PPS time service. In this way, once the test time is prolonged and the trigger delay error is accumulated, the current orbit sequence may be misaligned in the system, introducing additional errors to the test.

[0296] In this scenario example, to solve the above problem, a time reference unification method for laser link dynamic capture and tracking ground verification is provided, which uses time code for time service, synchronously triggers through 1PPS (for example, a preset trigger signal), and broadcasts real-time double-satellite orbit data to drive the laser platform (for example, a satellite laser link test system) to simulate double-satellite orbit angular motion, and ensure the time unification of the test terminal (for example, a laser terminal and a turntable) in the orbit-guided dynamic open-loop pointing capture and tracking workflow.

[0297] Specifically, refer to Figure 4 As shown in the figure, a semi-physical simulation device for laser payload dynamic capture and tracking test is constructed, which includes a terminal ground detector (for example, a ground detector terminal), a laser terminal, a laser engineering data workstation (for example, a data processing end), a two-dimensional turntable (for example, a turntable), a two-dimensional turntable controller (for example, a turntable controller), a time reference device, a collimator (for example, a collimator device), etc.

[0298] When the time reference unification of laser link dynamic capture and tracking ground verification is performed based on the above-mentioned semi-physical simulation device for laser payload dynamic capture and tracking test, the following steps can be included.

[0299] Step one, install and calibrate the laser terminal and two-dimensional turntable zero point: install the laser terminal on the two-dimensional turntable, align the laser terminal with the collimator, calibrate the laser terminal and two-dimensional turntable zero point, correct the relative coordinate system deviation of the laser terminal and two-dimensional turntable, and complete the spatial alignment of the laser terminal, two-dimensional turntable and other equipment.

[0300] In specific implementation, the measured terminal is installed on the two-dimensional turntable, and the working parameters of the measured terminal and the two-dimensional turntable are set: camera exposure time, transmit-receive wavelength, polarization, etc. The collimator is adjusted to the corresponding position for parameter setting; the collimator laser emitter and the measured terminal laser emitter are turned on, the two-axis of the two-dimensional turntable is adjusted to the coplanar position with the collimator camera, and the azimuth and elevation values A0 and E0 of the two-dimensional turntable at this time are recorded as the zero point of the two-dimensional turntable; the azimuth and elevation of the measured terminal are adjusted to make the optical axis of the measured terminal and the optical axis of the collimator coaxial, and the measured terminal and the collimator focal plane camera observe a complete and regular circular light spot at the same time, and the light spot is located in the center of the camera field of view, and the azimuth and elevation values A0' and E0' of the laser terminal at this time are recorded as the zero point of the laser terminal.

[0301] Step two, time alignment of the terminal ground detection, two-dimensional turntable and laser terminal with the time synchronization equipment, the specific process is as follows:

[0302] 11) Laser engineering data workstation, two-dimensional turntable, two-dimensional turntable controller, laser terminal ground detection, laser terminal connected to time terminal;

[0303] 12) Time terminal provides time code to laser engineering data workstation;

[0304] 13) Time terminal provides 1PPS signal to two-dimensional turntable;

[0305] 14) Time terminal provides time code and 1PPS signal to two-dimensional turntable controller;

[0306] 15) Time terminal provides time code, 10M / 100M (for example, preset transmission configuration signal), 1PPS signal to terminal ground detection;

[0307] 16) Time terminal provides 1PPS, 10M / 100M signal to laser terminal.

[0308] Step three, refer to Figure 10 and Figure 11As shown, the track data and attitude data with timestamp (simulation or satellite on-orbit data, for example, track and attitude data about the target satellite) are injected into the laser platform engineering data workstation: given the timestamped track and attitude data (simulation or satellite on-orbit data), the laser platform engineering data workstation calculates the double-star theoretical vector according to the given timestamped track data, converts it into the laser platform two-dimensional turntable azimuth and pitch negative direction motion angle (obtains the first attitude and track data), and transmits it to the two-dimensional turntable controller at 1Hz (sends 1 second in advance). The two-dimensional turntable controller starts from T0 time, and based on the 1PPS signal, it is triggered by time to send control quantity to the two-dimensional turntable at 10Hz, controls the two-dimensional turntable to rotate the simulated double-star relative angle negative direction motion, and the turntable closed-loop control period is ≤0.12ms. The laser platform engineering data workstation injects the track data (for example, the second attitude and track data) into the terminal ground inspection and broadcast at 1Hz (sends 1 second in advance, for example, based on the first advance time point) to the measured terminal ground inspection. The data broadcast to the terminal ground inspection can be referred to as Figure 12 As shown.

[0309] After the measured terminal ground inspection receives the data, it can frame and broadcast to the laser terminal according to the on-board format to drive the laser terminal to move according to the double-star track. The data broadcast to the laser terminal can be referred to as Figure 13 As shown.

[0310] In particular, the measured terminal ground inspection can broadcast the track to the terminal ground inspection in the following two ways:

[0311] 21) Before the test starts, the terminal ground inspection is injected with a test period of whole track and attitude data (including system home star and other star J2000 position, velocity, timestamp, home star attitude quaternion and roll, pitch, yaw attitude angle and angular velocity and timestamp, and sun vector) at one time. The terminal ground inspection analyzes and broadcasts the data to the laser terminal by itself.

[0312] 22) The laser engineering data workstation sends the track and attitude data to the laser terminal ground inspection at a frequency of 1Hz and 1 second in advance, including system real-time time broadcast, home star and other star J2000 position, velocity and timestamp; home star attitude quaternion and roll, pitch, yaw attitude angle, angular velocity and timestamp, including T0, T0+250ms, T0+500ms, T0+750ms four groups, excluding terminal star sensitive attitude data; sun vector; the broadcast protocol is shown in Appendix A. After receiving, the laser terminal ground inspection performs unpacking and packetizing according to the on-board working format, pushes the track guidance data to the laser terminal, and controls the terminal to compensate the track and attitude motion according to the time system and track and attitude timestamp.

[0313] In specific implementation, the laser platform transmits the track data to the terminal ground station. The transmission frequency can be 1 Hz (transmission 1 second in advance), or the track data can be transmitted once in a package mode. For a terminal ground station requiring a time in advance of more than 1 second, the track data is transmitted once in a package mode before the test.

[0314] In specific implementation, the track data is transmitted to the two-dimensional turntable. The laser engineering data workstation transmits the track data and the ideal attitude data of the satellite platform (including the J2000 positions, velocities, and timestamps of the system primary star and other stars, the attitude quaternions of the primary star, the roll, pitch, and yaw attitude angles and angular velocities, and the sun vector) to the two-dimensional turntable controller at a frequency of 1 Hz (10 frames, a timestamp interval of 100 ms, and transmission 1 second in advance). After receiving the data, the two-dimensional turntable controller calculates the azimuth and pitch angle control quantities, adds the coordinate correction quantities of the laser terminal and the two-dimensional turntable, and adds the artificially introduced pointing deviation quantities. The two-dimensional turntable is driven to move by transmitting the quantities to the two-dimensional turntable at a frequency of 10 Hz, which is superimposed on the zero point in reverse.

[0315] Step four, under the unified time service of the time system terminal, the two-end two-dimensional turntable starts to run the track synchronously, and the two-end laser terminal starts to point at the other end according to the track in an open loop mode. One end is gazing, and the other end is scanning to verify the tracking and capturing process.

[0316] Step five, a continuous track period (about 108 minutes) is selected for dynamic open loop pointing and tracking test. The maximum, minimum, and average angular velocities of the two stars are traversed. After the link is successfully established, the link is maintained for more than 5 minutes, and the next tracking and capturing is performed by actively breaking the link.

[0317] Specifically, for example, the time reference can be unified first, and then the tracking and capturing test of the related laser link can be performed in the following manner.

[0318] 31) Referring to Figure 4 The devices are connected.

[0319] 32) Track and attitude data of a continuous time period (the starting time is set as T0, i.e., the first initial time point) are selected and saved as CSV / TXT files in a protocol format. The track and attitude disturbances are added by injecting data and are transmitted to the laser engineering data workstation.

[0320] 33) The working parameters of the terminal under test, such as the camera exposure time, the polarization rotation direction, the wavelength, and the like, are set. The parameters of the collimator are set correspondingly, and an angle deviation is artificially introduced. The azimuth and pitch control quantities of the two-dimensional turntable are added with an angle deviation of 1 mrad or other angles to simulate the pointing deviation.

[0321] 34) The time alignment of the time system terminal is connected to the test devices, including the laser engineering data workstation, the two-dimensional turntable controller, the two-dimensional turntable, the terminal ground station, and the terminal under test.

[0322] 35) Laser engineering data workstation sets the time terminal time T0-5min according to the track and attitude data time zero T0, and each test device sets the time terminal time after synchronization.

[0323] 36) The two-end laser terminal engineering data workstation injects the whole package of attitude and track data (the starting time is T0) into the terminal ground detector before the test starts, or selects the track data and attitude with the starting time of T0, and sends the frame to the measured terminal ground detector with 1Hz UDP broadcast frame starting from T0.

[0324] Specifically, the laser engineering data workstation imports a continuous time track and attitude data CSV / TXT file, and calculates the two-dimensional turntable azimuth and elevation angle negative direction control quantity according to the pitch and azimuth zero point, turntable coordinate correction, pointing difference superposition, and theoretical pointing angle superposition of other stars.

[0325] Specifically, the two-end laser terminal engineering data workstation starts to execute the synchronization process at T0-1s, and controls the two-dimensional turntable control software program to inject the azimuth and elevation angle control quantity into the two-dimensional turntable controller at 1Hz (10 frames) at T0-1s. After receiving the control quantity, the two-dimensional turntable controller starts to inject the azimuth and elevation angle control quantity into the two-dimensional turntable at 10Hz from T0 according to the system time and taking the 1PPS signal granted by the time terminal as the trigger reference, and drives the two-dimensional turntable to move. At the same time, the two-end laser terminal engineering data workstation sends the UDP broadcast frame to the measured terminal ground detector at T0-1s, and the laser terminal ground detector pushes the track guidance data and attitude to the laser terminal at T0 according to the 1PPS signal trigger, and controls the laser terminal to move. If the attitude and track data are injected into the terminal ground detector in the form of a whole package, the terminal ground detector pushes the track guidance data and attitude to the laser terminal at T0 according to the 1PPS signal trigger, and controls the laser terminal to move.

[0326] 37) The platform starts the NASDA vibration spectrum.

[0327] 38) When the time terminal reaches T0, the two-dimensional turntable and the measured terminal start to run according to the 1PPS signal trigger, the measured terminal points to the parallel light pipe according to the working process, and starts the key working processes such as capture and tracking. Note that because the measured two-end does not have relative motion in space, the laser platform cannot realize the simulation of the lead sighting in space. Therefore, four ways are selected according to the actual situation: one is to close the lead sighting function of the laser terminal; two is to calculate the lead sighting bias range in advance, take the median value to set the lead sighting, and reduce the coaxiality error caused by the lead sighting by about half; three is to select the track period with smaller lead sighting angle; four is to improve the transmission power of the terminal laser terminal to cover the lead sighting error.

[0328] 39) Select a test period (typical working condition about 108 minutes), traverse the three reference points of maximum, minimum and average angular velocity of the dual-star, do dynamic open-loop pointing and capture test, maintain link stability for more than 5 minutes after successful link establishment, and actively disconnect the link for the next capture link establishment. Each reference point is not less than 6 test points, and the measurement times are not less than 20 times.

[0329] 40) Record the capture time, tracking accuracy and other indicators. The attitude and orbit data broadcast protocol is: in the form of UDP broadcast, the sending frequency is 1 Hz. The trigger mechanism is the time code whole second trigger.

[0330] 41) After the completion of the inter-satellite dynamic capture link establishment process verification based on orbit guidance, carry out long-term stable link test, set the communication gear to BPSK 5Gbps, monitor the number of disconnection and recapture, the longest and shortest capture time, tracking accuracy, communication error rate and other indicators.

[0331] Through the above scene examples, the verification test method based on the satellite laser link provided in the specification is verified, which is suitable for open-loop systems, has a more simplified system and higher response speed, can perform large-scale parallel processing, and improves the capture and tracking verification efficiency; through the joint use of time code timing and 1PPS signal trigger, the accuracy of time synchronization is improved, the pointing error of ground verification is reduced, and the verification feasibility is improved; through the ground verification based on real orbit data, the actual application scene can be closer, and the verification credibility is improved; through the use of high-precision time synchronization, stable pointing and capture can be realized under the open-loop condition, and the robustness to ground environment interference is strong.

[0332] Although the specification provides method operation steps as described in the embodiments or flowcharts, more or fewer operation steps can be included based on conventional or non-inventive means. The order of steps listed in the embodiments is only one of the many step execution orders, and does not represent the only execution order. When the device or client product is executed in practice, the method order shown in the embodiments or the drawings can be executed in sequence or in parallel (for example, parallel processor or multi-threaded processing environment, or even distributed data processing environment). The terms "include", "contain" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, product or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or includes elements inherent to such process, method, product or equipment. Without more limitations, it does not exclude the presence of other same or equivalent elements in the process, method, product or equipment including the elements. The terms "first", "second" and the like are used to represent names, and do not represent any particular order.

[0333] Those skilled in the art will also appreciate that, in addition to being implemented in purely computer readable program code means, the controller can be implemented using logic gates, switches, application specific integrated circuits, programmable logic controllers and embedded microcontrollers to perform the same functions as described by the method steps. The controller can therefore be considered as a hardware component and the means for performing the various functions described therein can be considered as structures within the hardware component. Alternatively, the means for performing the various functions can be considered as both software modules which implement the method and structures within the hardware component.

[0334] The specification can be described in the general context of computer- executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, classes, etc., that perform particular tasks or implement particular abstract data types. Computer-executable instructions, associated data structures, and the like, can also be stored in computer system memory and / or tangible computer-readable storage media, which can be accessed by a computer. The foregoing disclosure can be implemented in the context of a fully functioning computer system or in the context of a computer system including virtual machines and virtual devices.

[0335] From the above description of the embodiments, those skilled in the art can clearly understand that the specification can be implemented by means of software in combination with the necessary general hardware platforms. Based on such an understanding, the technical solutions of the specification can essentially be embodied in a form of a software product. The computer software product can be stored in a storage medium, such as a ROM / RAM, a magnetic disk, or an optical disk, and includes a plurality of instructions to cause a computer device (which can be a personal computer, a mobile terminal, a server, or a network device, etc.) to execute the methods described in each of the embodiments or some parts of the embodiments.

[0336] The embodiments in the specification are described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other. Each embodiment focuses on the differences from other embodiments. The specification can be used in many general or specific computer system environments or configurations. For example: personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable consumer electronics, network PCs, minicomputers, mainframe computers, distributed computing environments that include any of the above systems or devices, and the like.

[0337] Although the specification is described through the embodiments, those skilled in the art know that the specification has many modifications and variations without departing from the spirit of the specification, and it is intended that the appended claims encompass these modifications and variations without departing from the spirit of the specification.

Claims

1. A method of verifying a satellite laser link, characterized in that, The method is applied to a satellite laser link verification test system, wherein the satellite laser link test system at least comprises a time system device, a data processing end, a laser terminal, a ground detection terminal, a turntable, a turntable controller, a collimator device, and the method comprises: According to a preset calibration rule, a zero point coordinate of the turntable is determined; and a turntable reference coordinate system, a turntable zero point coordinate system, and a laser terminal coordinate system are established; the turntable reference coordinate system is a coordinate system with a specified position of a side wall of the turntable as an origin, and the turntable zero point coordinate system is a coordinate system with a central position on a rotating disc of the turntable as an origin; In a state where the turntable is at the zero point coordinate, an angle deviation correction matrix of the laser terminal coordinate system and the turntable zero point coordinate system is determined based on the turntable reference coordinate system, the turntable zero point coordinate system, and the laser terminal coordinate system; including: in a state where the turntable is at the zero point coordinate, a zero point calibration tool is installed on the turntable; and a first measurement matrix of the turntable zero point coordinate system relative to the turntable reference coordinate system is measured and calibrated by using a theodolite; the laser terminal is installed on the turntable; and a second measurement matrix of the laser terminal coordinate system relative to the turntable reference coordinate system is measured and calibrated by using the theodolite; according to the first measurement matrix and the second measurement matrix, the angle deviation correction matrix of the laser terminal coordinate system and the turntable zero point coordinate system is determined; Obtaining orbit and attitude data of a target satellite; According to the orbit and attitude data and the angle deviation correction matrix, corresponding target control quantities are generated and used to control the laser terminal and the turntable to operate, so as to simulate laser link capture and tracking of the target satellite.

2. The method of claim 1, wherein, The method further comprises: According to a preset calibration rule, a laser of the collimator device is turned on; A zero point measurement tool is installed at a central position of the turntable; and a second cube mirror is arranged on the zero point measurement tool; The position and posture of the turntable are adjusted, so that a light spot formed by a light beam reflected back by the second cube mirror after the light beam emitted by the laser passes through the second cube mirror is aligned with a zero point position of a camera of the collimator device; and a plane formed by an elevation axis and an azimuth axis of the turntable is coplanar with the camera of the collimator device; A zero point coordinate of the turntable is determined and obtained according to a current azimuth angle and a current elevation angle of the turntable.

3. The method of claim 2, wherein, The method further comprises: According to a preset calibration rule, the turntable zero point coordinate system is established based on the second cube mirror; A first cube mirror is arranged at a side wall position of the turntable; and the turntable reference coordinate system is established based on the first cube mirror; In a current posture state of the turntable, the zero point measurement tool is dismounted; A laser terminal is installed at a central position of the turntable; and a third cube mirror is arranged on the laser terminal; The laser terminal coordinate system is established based on the third cube mirror.

4. The method of claim 1, wherein, After the zero point coordinate of the turntable is determined according to the preset calibration rule, the method further comprises: In a state that the turntable is at a zero point coordinate, according to a preset calibration rule, a laser of the laser terminal is turned on; and an azimuth angle and a pitch angle of the laser terminal are adjusted, so that an optical axis of the laser terminal and an optical axis of a camera of the collimating light device are coaxial; and the laser terminal and the camera of the collimating light device simultaneously observe a required light spot; wherein the light spot is located at a central position of a field of view of the camera. A zero point coordinate of the laser terminal is determined and obtained according to a current azimuth angle and a current pitch angle of the laser terminal.

5. The method of claim 1, wherein, After the angle deviation correction matrix of the laser terminal coordinate system and the turntable zero point coordinate system is determined, the method further comprises: The time system device is used for respectively performing corresponding time alignment processing on the data processing end, the laser terminal, the turntable and the turntable controller.

6. The method of claim 5, wherein, The time system device is used for respectively performing corresponding time alignment processing on the data processing end, the laser terminal, the turntable and the turntable controller. The time system device is used for respectively performing corresponding time alignment processing on the data processing end, the laser terminal, the turntable and the turntable controller.

7. The method of claim 5, wherein, The time system device is used for respectively performing corresponding time alignment processing on the data processing end, the laser terminal, the turntable and the turntable controller. The track and attitude data at least carries a time stamp; Correspondingly, after the track and attitude data of the target satellite is obtained, the method further comprises: According to the track and attitude data, a first initial time point is determined, and a first advanced time point based on the first initial time point is determined; 8. The method of claim 7, wherein, Based on the first advanced time point, the data processing end is used for transmitting corresponding first attitude and track data and second attitude and track data to the turntable controller and the ground detection terminal respectively according to the track and attitude data, so that the turntable controller and the ground detection terminal control the laser terminal and the turntable to run respectively according to the first attitude and track data and the second attitude and track data. After the data processing end is used for transmitting corresponding first attitude and track data and second attitude and track data to the turntable controller and the ground detection terminal respectively according to the track and attitude data based on the first advanced time point, the method further comprises: The turntable controller is used for generating a first control quantity for the turntable according to the first attitude and track data and the angle deviation correction matrix.

9. The method of claim 8, wherein, Starting from the first initial time point, the turntable controller is used for transmitting a corresponding first control quantity to the turntable according to the preset trigger signal, so that the turntable simulates the running of the target satellite according to the first control quantity starting from the first initial time point. The turntable controller is used for generating a first control quantity for the turntable according to the first attitude and track data and the angle deviation correction matrix, comprising: According to the first attitude and track data, a first pointing vector of the target satellite is determined; a first conversion matrix of an inertial coordinate system of the target satellite to a satellite orbit coordinate system, a second conversion matrix of the satellite orbit coordinate system to a satellite body coordinate system based on the attitude of the satellite, and a third conversion matrix of the satellite body coordinate system to a terminal installation coordinate system are obtained. According to the first conversion matrix, the second conversion matrix, the third conversion matrix, and the first pointing vector, a corresponding second pointing vector is calculated; The second pointing vector is processed using an angle deviation correction matrix to obtain a third pointing vector based on a satellite laser link test system; According to the third pointing vector, a first control amount for the turntable is determined.

10. The method of claim 9, wherein, The first control amount for the turntable is determined according to the third pointing vector, including: According to the third pointing vector, a third pointing vector is converted into a corresponding first azimuth pointing angle and a first elevation pointing angle according to a preset angle mapping relationship; The first azimuth pointing angle and the first elevation pointing angle are respectively subjected to negative processing to obtain a corresponding second azimuth pointing angle and a second elevation pointing angle; According to the second azimuth pointing angle and the second elevation pointing angle, a first control amount for the turntable is determined.

11. The method of claim 10, wherein, After the first control amount for the turntable is determined according to the second azimuth pointing angle and the second elevation pointing angle, the method further includes: A pointing difference analog quantity about the target satellite is determined; The first control amount is adjusted using the pointing difference analog quantity.

12. The method of claim 8, wherein, The first control amount is sent to the turntable using the turntable controller according to the preset trigger signal from the first initial time point, including: According to the preset trigger signal, a first control amount data packet is sent to the turntable using the turntable controller; wherein the first control amount data packet includes a first control amount of the turntable at multiple time points within a specified time period based on the first initial time point.

13. The method of claim 12, wherein, The first control amount is sent to the turntable using the turntable controller according to the preset trigger signal from the first initial time point, further including: According to the preset trigger signal, the first control amount of each time point of the turntable within a specified time period based on the first initial time point is sent to the turntable using the turntable controller in sequence and timing.

14. The method of claim 1, wherein, After the laser terminal and the turntable are controlled to operate using the corresponding target control amount based on the orbit and attitude data and the angle deviation correction matrix to simulate the laser link capture and tracking of the target satellite, the method further includes: Target test results are determined based on target characteristic parameters in the process of simulating the laser link capture and tracking of the target satellite; A matching target link establishment scheme is determined according to the target test results; The laser link capture and tracking of the target satellite is performed according to the target link establishment scheme.

15. A verification test device for a satellite laser link, characterized in that It is applied to a satellite laser link test system, wherein the satellite laser link test system at least includes a time system device, a data processing end, a laser terminal, a ground detection terminal, a turntable, a turntable controller, and a parallel light device, and the device includes: A calibration module is configured to determine a zero point coordinate of the turntable according to a preset calibration rule, and to establish a turntable reference coordinate system, a turntable zero point coordinate system, and a laser terminal coordinate system; the turntable reference coordinate system is a coordinate system with a specified position of an upper side wall of the turntable as an origin, and the turntable zero point coordinate system is a coordinate system with a center position on a turntable on the turntable as an origin. The determining module is configured to determine an angle deviation correction matrix of the laser terminal coordinate system and the turntable zero point coordinate system based on the turntable reference coordinate system, the turntable zero point coordinate system, and the laser terminal coordinate system when the turntable is in the zero point coordinate state. The determining module is specifically configured to: install the zero point calibration tool on the turntable when the turntable is in the zero point coordinate state; measure and calibrate a first measurement matrix of the turntable zero point coordinate system relative to the turntable reference coordinate system by using the theodolite; install the laser terminal on the turntable; measure and calibrate a second measurement matrix of the laser terminal coordinate system relative to the turntable reference coordinate system by using the theodolite; and determine the angle deviation correction matrix of the laser terminal coordinate system and the turntable zero point coordinate system according to the first measurement matrix and the second measurement matrix. The acquisition module is configured to acquire orbit and attitude data of a target satellite. The processing module is configured to generate a corresponding target control quantity according to the orbit and attitude data and the angle deviation correction matrix, and control the laser terminal and the turntable to operate by using the corresponding target control quantity, so as to simulate a laser link capture and build chain of the target satellite.

16. A computer device, comprising: A processor and a memory for storing processor-executable instructions, wherein the processor executes the instructions to implement the steps of the method in any one of claims 1 to 14.

17. A computer-readable storage medium, characterized in that, A computer program product having stored thereon computer instructions, wherein the instructions, when executed by a processor, implement the steps of the method in any one of claims 1 to 14.

18. A computer program product, characterised in that, A computer program product having stored thereon computer instructions, wherein the instructions, when executed by a processor, implement the steps of the method in any one of claims 1 to 14.

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