Method and apparatus for pre-determining communication time slots between remote sensing satellites and high-orbit communication satellites

Abstract

This disclosure provides a method and apparatus for pre-determining communication time periods between a remote sensing satellite and a high-orbit communication satellite. The specific implementation scheme includes: determining at least one visible time period and time period parameters for the remote sensing satellite and the high-orbit communication satellite; for each visible time period within the at least one visible time period, calculating the satellite attitude angle of the remote sensing satellite in the current regional operating mode based on the visible time period, time period parameters, and time intervals of different regions of the remote sensing satellite, Earth, and Sun positions; obtaining the geocentric inertial coordinate system pointing vectors of the remote sensing satellite and the high-orbit communication satellite in the geocentric inertial coordinate system corresponding to the visible time period; calculating the antenna azimuth and elevation angles based on the satellite attitude angles, geocentric inertial coordinate system pointing vectors, at least one visible time period, and time period parameters; and, in response to detecting that the antenna azimuth and elevation angles satisfy the angle constraint conditions and that the visible time period does not satisfy the telemetry and data transmission operating constraints, using the visible time period as the communication time period between the remote sensing satellite and the high-orbit communication satellite.

Description

Technical Field

[0001] This invention belongs to the field of aerospace technology, and particularly relates to the technical fields of inter-satellite remote control, telemetry, and image data interaction of aerospace satellites. Specifically, it relates to a method and apparatus for pre-determining the communication period between a remote sensing satellite and a high-orbit communication satellite, as well as electronic equipment and computer-readable storage media. Background Technology

[0002] When remote sensing satellites pass overhead without ground stations, they cannot directly transmit the acquired data to ground stations, which may cause delays in data transmission between the remote sensing satellite and the ground station. Furthermore, when remote sensing satellites are unable to transmit data to ground stations, they need to store the data in onboard storage with limited capacity, which may lead to the loss of early data. Therefore, ensuring the continuity of data transmission between remote sensing satellites and ground stations has become an important research direction.

[0003] Currently, the mainstream technical approach involves relaying data from low-Earth orbit (LEO) satellites to ground stations via relay satellites. Because remote sensing satellites move at high speeds relative to the Earth's surface, visibility between the remote sensing satellite and the relay satellite is a prerequisite for establishing a communication link. Existing technologies mostly rely on comparing relevant parameters of the LEO and relay satellites to confirm their visibility, and then verify this on the ground using existing telemetry data from both satellites. This method, based solely on real-time orbit determination data (telemetry data) of satellite velocity and position, cannot accurately reflect the satellite's flight status over a specific period and cannot predict future communication periods between the LEO and relay satellites. Generally, calculations for both remote sensing and relay satellites are processed at ground stations, but the acquisition of satellite data by ground stations is delayed, hindering timely responses to immediate decision-making situations. Furthermore, ground station analysis depends on the communication link between the satellite and the ground station, making it vulnerable to attacks and interference.

[0004] The information disclosed in this background section is intended only to enhance the understanding of the overall background of the invention and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Summary of the Invention

[0005] The purpose of this disclosure is to solve the technical problem of poor prediction effect of existing satellite communication time periods, and to provide a method for pre-determining the communication time periods between remote sensing satellites and high-orbit communication satellites.

[0006] The first aspect of this disclosure provides a method for determining the communication period between a remote sensing satellite and a high-orbit communication satellite, applied to the space segment of a remote sensing satellite. The method includes: determining at least one visible time period and time period parameters between the remote sensing satellite and the high-orbit communication satellite; for each visible time period within the at least one visible time period, calculating the satellite attitude angle of the remote sensing satellite in the current regional operating mode based on the visible time period, the time period parameters, and time intervals of different regions of the remote sensing satellite, Earth, and Sun positions; obtaining the geocentric inertial coordinate system pointing vectors of the remote sensing satellite and the high-orbit communication satellite in the geocentric inertial coordinate system corresponding to the visible time period; calculating the azimuth and elevation angles of the antenna pointing from the remote sensing satellite to the high-orbit communication satellite based on the satellite attitude angles, the geocentric inertial coordinate system pointing vectors, at least one visible time period, and the time period parameters; in response to detecting that the azimuth and elevation angles of the antenna pointing from the remote sensing satellite to the high-orbit communication satellite satisfy angle constraints, detecting whether the visible time period satisfies telemetry and data transmission operating constraints; and in response to detecting that the visible time period does not satisfy the telemetry and data transmission operating constraints, using the visible time period as the communication period between the remote sensing satellite and the high-orbit communication satellite.

[0007] A second aspect of this disclosure provides a device for pre-determining communication time periods between a remote sensing satellite and a high-orbit communication satellite, applied in the space segment of a remote sensing satellite. The device includes: a determining unit configured to determine at least one visible time period and time period parameters between the remote sensing satellite and the high-orbit communication satellite; a position calculation unit configured to calculate, for each visible time period within the at least one visible time period, the visible time period, the time period parameters, and time intervals of different regions of the remote sensing satellite, the Earth, and the Sun's positions, the satellite attitude angle in the current region's operating mode; and an acquisition unit configured to acquire the communication time periods between the remote sensing satellite and the high-orbit communication satellite in a geocentric inertial coordinate system. The system includes: a ground-based inertial system pointing vector of the geostationary communication satellite; an angle calculation unit configured to calculate the azimuth and elevation angles of the remote sensing satellite pointing to the high-orbit communication satellite antenna based on the satellite attitude angle, the ground-based inertial system pointing vector, at least one visible time period, and time period parameters; an angle detection unit configured to detect whether the visible time period satisfies telemetry and data transmission work constraints in response to the detection that the azimuth and elevation angles of the remote sensing satellite pointing to the high-orbit communication satellite antenna meet the angle constraints; and a time period detection unit configured to use the visible time period as the communication time period between the remote sensing satellite and the high-orbit communication satellite in response to the detection that the visible time period does not meet the telemetry and data transmission work constraints.

[0008] A third aspect of this disclosure provides a computer device including a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the steps of the method as described in the first aspect.

[0009] The fourth aspect of this disclosure provides a computer-readable storage medium in which a computer program, when executed by a processor, implements the steps of the method of the first aspect.

[0010] Compared with existing technologies, the technical effects achieved by this disclosure are as follows: During non-ground station transit periods in the space segment, the remote sensing satellite performs vector calculations for both the remote sensing satellite and the high-orbit communication satellite. Combined with the satellite attitude angles under different regional operating modes of the remote sensing satellite, the pointing vectors of the inertial systems of the remote sensing satellite and the high-orbit communication satellite are calculated, forming a forecast of communication time periods between the remote sensing satellite and the high-orbit communication satellite. This provides a method and basis for inter-satellite remote control, telemetry, image data exchange, and on-orbit mission planning between the remote sensing satellite and the high-orbit communication satellite. Within a control envelope, starting from the designated ground station transit period, the remote sensing satellite performs pointing calculations for all non-ground station transit periods, forming a forecast of available time periods. This improves the accuracy of communication time periods. This accurate forecast of communication time periods helps to formulate scientific and reasonable work plans based on satellite communication capabilities, arrange communication tasks for the remote sensing satellite, avoid the inability to transmit observation data in a timely manner due to poor communication, and improve the success rate of mission execution. Attached Figure Description

[0011] Figure 1 This is a flowchart of an embodiment of the method for determining the communication time period between a remote sensing satellite and a high-orbit communication satellite according to the present disclosure;

[0012] Figure 2 This is the component of the solar vector along the Z-axis of the orbital system in this disclosure;

[0013] Figure 3 This is the coordinate system of the relay telemetry and control antenna in the satellite body coordinate system of this disclosure;

[0014] Figure 4 This is a schematic diagram showing the azimuth and elevation angles of the remote sensing satellite antenna pointing towards the high-orbit communication satellite antenna.

[0015] Figure 5 This is a schematic diagram of a structure of an embodiment of the remote sensing satellite and high-orbit communication satellite communication time period determination device according to the present disclosure;

[0016] Figure 6 This is a block diagram of an electronic device used to implement the method for determining the communication time period between a remote sensing satellite and a high-orbit communication satellite according to embodiments of the present disclosure. Detailed Implementation

[0017] Unless otherwise expressly stated, throughout the specification and claims, the term "comprising" or its variations such as "including" or "comprises" shall be understood to include the stated elements or components without excluding other elements or other components.

[0018] The technical solution of the present invention is illustrated below through specific embodiments. It should be understood that the one or more steps mentioned in the present invention do not preclude the existence of other methods and steps before or after the combined steps, or that other methods and steps may be inserted between these explicitly mentioned steps. It should also be understood that these examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Unless otherwise stated, the numbering of each method step is only for the purpose of identifying each method step, and not for limiting the order of each method or limiting the scope of the present invention. Changes or adjustments to their relative relationships, without substantial changes to the technical content, can also be considered as within the scope of the present invention.

[0019] The raw materials and instruments used in the examples are not subject to any specific restrictions on their source; they can be purchased from the market or prepared according to conventional methods known to those skilled in the art.

[0020] To address the shortcomings of existing technologies, this disclosure provides a method for pre-determining the communication time period between remote sensing satellites and high-orbit communication satellites, applicable to the space segment of remote sensing satellites. Figure 1 A flowchart 100 illustrates an embodiment of a method for pre-determining communication time slots between remote sensing satellites and high-orbit communication satellites. This method includes the following steps:

[0021] Step 101: Determine at least one visible time period and time period parameters for the remote sensing satellite and the high-orbit communication satellite.

[0022] In this embodiment, the visible period refers to the time range within which an object or phenomenon can be observed within a specific time period. In astronomical observation, the visible period usually refers to the time window within which a celestial body (such as the moon, planets, etc.) can be observed within a specific time period. Specifically, in this embodiment, the visible period is the time window within which a high-orbit communication satellite can be observed by a remote sensing satellite within a specific time period.

[0023] In this embodiment, step 101 includes: first, determining whether the remote sensing satellite and the high-orbit communication satellite are obstructed by the Earth based on their orbital positions; then, calculating the satellite attitude angles and converting the Earth inertial system pointing vector from the remote sensing satellite to the high-orbit communication satellite to the antenna coordinate system; finally, calculating the azimuth and elevation angles of the relay antenna to determine the visibility of the high-orbit communication satellite and the remote sensing satellite, obtaining at least one visible time period and the parameters used in the calculation of the visible time period, and using the six orbital roots, the vector parameters of the remote sensing satellite, and the vector parameters of the high-orbit communication satellite in the parameters as the time period parameters.

[0024] Optionally, the work is also carried out through two segments: the remote sensing satellite space segment and the remote sensing satellite ground segment. The remote sensing satellite ground segment completes the editing, generation, and uploading of the instruction sequence for calculating available arc segments. The remote sensing satellite space segment completes the calculation of precise orbit determination (including orbit determination model correction) (generating the six remote sensing satellite data points), orbit prediction (including extrapolation correction) for remote sensing satellites and high-orbit communication satellites, acquisition of vector intervals for calculating the visible time periods of remote sensing satellites and high-orbit communication satellites, vector coordinate system transformation between remote sensing satellites and high-orbit communication satellites, and selection of visible time periods for remote sensing satellites and high-orbit communication satellites.

[0025] Specifically, the workflow of the remote sensing satellite ground segment is as follows: Based on the remote sensing satellite's transit over ground stations, the time periods during which the remote sensing satellite cannot conduct telemetry, remote control, and data transmission services with the ground stations are identified. After comprehensive consideration of the remote sensing satellite's transit area, the calculation interval for the visible time period on the remote sensing satellite is determined. This calculation interval can be one or multiple time periods.

[0026] The latest six-axis data for high-orbit communication satellites refers to the latest orbital six-axis data of the high-orbit communication satellite that can be obtained by the remote sensing satellite ground segment when generating the instruction sequence for calculating usable arc segments. This data is used for orbit prediction calculations of high-orbit communication satellites. Since high-orbit communication satellites are not under the management of the remote sensing satellite ground segment, the six-axis data information needs to be provided by the owner or custodian of the high-orbit communication satellite.

[0027] Satellite usage constraints mainly include constraints related to satellite energy and related operations. For remote sensing satellites, these primarily include the working distance of inter-satellite communication links, the frequency bands used for communication between two satellites, and the directional angle limitations of relay antennas for inter-satellite communication (azimuth and elevation scanning ranges), remote sensing satellite orbit determination model correction coefficients, and remote sensing satellite extrapolation correction coefficients. For high-orbit communication satellites, in addition to the above, usage constraints also include tracking beam information (traditional communication satellites have relatively fixed beam angles and beamwidths; for point-beam high-orbit communication satellites, information such as the beam angle and beamwidth of each available beam in the relay needs to be provided), and high-orbit communication satellite extrapolation correction coefficients. The above information is input into the low-orbit remote sensing ground control system. The ground control system edits the preset instruction template according to the input parameters, generating corresponding instructions. After instruction verification, the ground control system generates a "remote sensing satellite and high-orbit communication satellite communication period forecast calculation instruction sequence" for uploading to the remote sensing satellite. This instruction uploading is completed through the remote sensing satellite's transit ground station.

[0028] First, the satellite computer in the space segment of the remote sensing satellite finds the nearest available data from the real-time orbit data accumulated by the remote sensing satellite based on the start interval of the visible time period. Then, it performs real-time orbit determination of the low-Earth orbit satellite through a precise orbit determination program (which is based on an orbital root number obtained after the accumulation of telemetry data and the correction of the remote sensing satellite orbit determination model).

[0029] The remote sensing satellite parameter calculation module uses the six data points obtained from precise orbit determination to predict the remote sensing satellite orbit through a numerical extrapolation method and an integrator. Then, it corrects the remote sensing satellite orbit prediction results based on the extrapolation correction model coefficients updated on the ground (based on atmospheric drag, solar radiation pressure, etc.). Finally, it extracts the data (including the remote sensing satellite's timestamp, corresponding orbit information, satellite velocity, position, and other vector parameters) within the visible time period calculation interval to obtain at least one visible time period.

[0030] In this embodiment, the time period parameter corresponds to the parameters of each visible time period in at least one visible time period. The time period parameter may include the orbital root number when calculating the visible time period, the vector parameters of the remote sensing satellite, and the vector parameters of the high-orbit communication satellite. The above step 101 includes: obtaining the visible time period and time period parameter calculated by the ground segment from the ground segment of the remote sensing satellite. Specifically, the calculation process of the visible time period and time period parameter by the ground segment is as follows:

[0031] Acquire GNSS pseudorange, carrier phase, and Doppler data, and simultaneously collect satellite attitude quaternions and satellite parameters (area, mass). Remove outliers from all data, perform double-difference / ionospheric-free combination, and resolve integer ambiguities. Based on the processed data, establish observation equations and estimate orbital state and error parameters using Kalman filtering or least squares method. (The initial position vector r0 and velocity vector v0 can be used to obtain the six roots for orbit determination). Select a mechanical model (including perturbation terms), combine attitude and area information to calculate non-conservative force acceleration, and construct an extrapolation model. Use a high-precision integrator to calculate the future orbit and output the orbit prediction result. It should be noted that the observation equations and extrapolation model work alternately. The observation equations continuously update the orbital state estimate based on new observation data, while the extrapolation model predicts the future orbit based on the updated orbital state. For example, in real-time satellite orbit control, the observation equations use observation data from ground control stations to update the satellite's orbital state at regular intervals (e.g., every few minutes). Then, based on the updated orbital state, the extrapolation model calculates the satellite's orbital position and velocity over a future period of time (such as several hours).

[0032] The specific extrapolation process is as follows: Input the initial state { r 0, v 0} and extrapolated time range [ t 0, t 0+Δt ]; Select a dynamic model (e.g., considering J (2 terms + atmospheric drag + solar radiation pressure) Calculation t acceleration at time 0 a ( t 0)= Fg + Fpert The position and velocity at the next moment are recursively calculated using a numerical integrator: This process of selecting the dynamic model and calculating the position and velocity at the next moment is repeated until the target moment t0 + Δt is reached, yielding {r(t), v(t)}. Based on the obtained {r(t), v(t)}, it is converted into a six-root number using orbital mechanics formulas. The six-root number is shown below, for example...

[0033] Angular momentum vector: h = r × v, modulus h = ||h||.

[0034] Orbital inclination angle: i = arccos(h) z / h). (Calculate the angular momentum h; the orbital inclination i is determined by the Z component of h.)

[0035] Right ascension of ascending node: Ω = arctan2( h y , h x (The right ascension Ω of the ascending node is determined by the projection direction of h onto the XY plane.)

[0036] Eccentricity vector: e = (1 / μ) [(v v μ / r )r (r v)v],Modulus e =∣∣e∣∣.

[0037] Argument of perigee: ω =arctan2(e h,N e), where N is the direction vector of the ascending node.

[0038] True anterior angle: ν = arctan2[r] v / μ 1 / 2 , h 2 / (μr) -r].

[0039] Step 102: For each visible time period in at least one visible time period, based on the visible time period, time period parameters, and time intervals of different regions of the remote sensing satellite, Earth, and Sun positions, calculate the satellite attitude angle of the remote sensing satellite in the current regional working mode.

[0040] In this embodiment, at least one visible time period belongs to the satellite attitude angle under multiple regional working modes. Each visible time period corresponds to the satellite attitude angle under a corresponding regional working mode. The regional working mode represents the time region (such as the sunshine area or the shadow area) and the imaging working time period. Therefore, the current regional working mode of the remote sensing satellite is one of multiple regional working modes. The remote sensing satellite and the high-orbit communication satellite communication time period pre-determination method operates on this, which is also the execution subject of the remote sensing satellite space segment. According to the satellite computer's Z-axis component T of the solar vector T in the centroid orbit coordinates. Ｚ The modulus and time intervals of different regions of remote sensing satellite, Earth, and Sun positions are used to determine the time intervals in which the remote sensing satellite is in the Earth's shadow or in sunlight, as well as the imaging working period of the remote sensing satellite on the ground segment. The satellite attitude angles in the current regional working mode during the visible period of the remote sensing satellite and the high-orbit communication satellite are calculated.

[0041] In this embodiment, the satellite attitude angles are a set of angular parameters that describe the orientation of the satellite body coordinate system relative to the center of mass orbit coordinate system. They are the roll angle B, pitch angle C, and yaw angle A, which are used to characterize the satellite's rotational state around different axes.

[0042] In this embodiment, the current regional working mode of the remote sensing satellite is first determined based on the mission requirements and the time intervals of different regions of the remote sensing satellite, the Earth, and the Sun. Based on the visible time period and time period parameters, the parameters corresponding to the current regional working mode are determined. Based on these parameters, the satellite attitude angle of the remote sensing satellite in the current regional working mode is calculated.

[0043] Step 103: Obtain the geocentric inertial coordinate system pointing vectors of remote sensing satellites and high-orbit communication satellites in the corresponding visible time period.

[0044] In this embodiment, the remote sensing satellite space segment has a remote sensing satellite pointing to the high-orbit communication satellite vector storage module. This module stores the geostationary inertial system pointing vectors of the remote sensing satellite and the high-orbit communication satellite for each visible time period. The geostationary inertial system pointing vector is the pointing vector of the remote sensing satellite pointing to the high-orbit communication satellite in geocentric inertial coordinates. For each visible time period, the difference between the position vector of the remote sensing satellite and the position vector of the high-orbit communication satellite in geocentric inertial coordinates is obtained.

[0045] In this embodiment, the remote sensing satellite vectors within the visible time period calculation interval are transformed into a coordinate system. Generally, the cumulative real-time orbit data of remote sensing satellites is vector data in the WGS84 coordinate system, and the orbit prediction (extrapolation result) of remote sensing satellites is also vector data in the WGS84 coordinate system. This data cannot be directly used to select the visible time period of remote sensing satellites and high-orbit communication satellites, and must be converted into vector values ​​in the geocentric inertial coordinate system (WGS84 coordinate system → geocentric Earth-fixed coordinate system → geocentric inertial coordinate system).

[0046] In this embodiment, the executing entity calculates the orbital root data of the high-orbit communication satellite based on the visible time period. It then predicts the high-orbit communication satellite's orbit using a numerical extrapolation method and an integrator. The predicted orbit is then corrected based on ground-updated extrapolation correction model coefficients (based on atmospheric drag, solar radiation pressure, etc.). Finally, data within the calculation period (including the high-orbit communication satellite's timestamp, corresponding orbital information, satellite velocity, position, and other vector parameters) is extracted.

[0047] Similar to the calculation of remote sensing satellite parameters, coordinate system transformation is performed on the vectors of high-orbit communication satellites within the visible time period calculation interval. Generally, the orbit prediction (extrapolation result) of high-orbit communication satellites is vector data in the WGS84 coordinate system. This data cannot be directly used for the selection of visible time periods of remote sensing satellites and high-orbit communication satellites. It must be converted into vector values ​​in the geocentric inertial coordinate system (WGS84 coordinate system → geocentric Earth-fixed coordinate system → geocentric inertial coordinate system).

[0048] After the parameters of remote sensing satellites and high-orbit communication satellites are calculated, the satellite vectors within the visible time period are filtered for visibility based on a formula. At the same time, the remote sensing satellite pointing to the high-orbit communication satellite vector storage module completes the calculation and storage of the geostationary inertial pointing vector of the remote sensing satellite pointing to the high-orbit communication satellite within the visible time period. It should be noted that the calculation of satellite vectors in the visible time period is obtained by conventional formulas, which will not be elaborated here.

[0049] Step 104: Based on the satellite attitude angle, the pointing vector of the ground inertial system, at least one visible time period, and the time period parameter, calculate the azimuth and elevation angles of the remote sensing satellite pointing to the high-orbit communication satellite antenna.

[0050] In this embodiment, azimuth and elevation angles are used to describe the horizontal and vertical positions of celestial bodies and targets, respectively. Azimuth angle refers to the horizontal angle of the target relative to a reference point, and elevation angle refers to the vertical angle of the target relative to the horizontal plane. The position and direction of the target can be accurately determined by using azimuth and elevation angles.

[0051] In this embodiment, the execution body running on the method for pre-determining the communication time period between the remote sensing satellite and the high-orbit communication satellite first transforms the Earth inertial system pointing vector to the centroid orbital coordinate system to obtain the centroid pointing vector. Then, based on the satellite attitude angle, it transforms the centroid pointing vector from the centroid orbital coordinate system to the satellite body system to obtain the body pointing vector. Next, it transforms the body pointing vector to the antenna pointing vector in the antenna coordinate system. Finally, it transforms the antenna pointing vector into the azimuth and elevation angles of the remote sensing satellite pointing to the high-orbit communication satellite antenna through angle transformation. The transformation between the antenna pointing vector and the antenna azimuth and elevation angles can be obtained through a fixed transformation formula.

[0052] Step 105: In response to the detection that the azimuth and elevation angles of the remote sensing satellite pointing to the high-orbit communication satellite antenna meet the angle constraint conditions, check whether the visible period meets the telemetry and data transmission operation constraints.

[0053] In this embodiment, the angle constraint condition can be a constraint condition sent by the ground segment of the remote sensing satellite. The angle constraint condition is used to constrain the azimuth angle and elevation angle. The azimuth angle and elevation angle of the remote sensing satellite pointing to the high-orbit communication satellite antenna are judged by the angle constraint condition. When the azimuth angle and elevation angle of the remote sensing satellite pointing to the high-orbit communication satellite antenna meet the angle constraint condition, it is determined that the remote sensing satellite and the high-orbit communication satellite have the conditions to carry out communication during the visible period.

[0054] In this embodiment, the angle constraint condition is used to limit the azimuth and elevation scanning range of the high-orbit communication satellite antenna and the azimuth and elevation scanning range of the remote sensing satellite antenna. When the azimuth and elevation angles of the remote sensing satellite pointing to the high-orbit communication satellite antenna simultaneously satisfy the scanning range of both of the above, it is determined that the angle constraint condition is satisfied.

[0055] Step 106: In response to the detection that the visible time period does not meet the constraints of telemetry and data transmission, the visible time period is used as the communication time period between the remote sensing satellite and the high-orbit communication satellite.

[0056] In this embodiment, the telemetry and data transmission work constraints can be constraints sent by the ground segment of the remote sensing satellite. The telemetry and data transmission work constraints are used to constrain the working time of the remote sensing satellite. By using the telemetry and data transmission work constraints, the working time of the satellite-to-ground telemetry and data transmission tasks of the remote sensing satellite and the high-orbit communication satellite that meet the angle constraints is reviewed. Step 106 mainly excludes the telemetry and data transmission tasks newly added by the remote sensing satellite through inter-satellite (high-orbit communication satellite → remote sensing satellite) or satellite-to-ground links.

[0057] In this embodiment, the telemetry and data transmission work constraints are the conditions under which remote sensing satellites can perform data transmission or telemetry with other satellites or ground stations. When the telemetry and data transmission work constraints are met during the visible period, it is determined that remote sensing satellites can perform telemetry and data transmission with other satellites or ground stations during that visible period.

[0058] The method for pre-determining communication time slots between remote sensing satellites and high-orbit communication satellites disclosed herein realizes an on-board autonomous analysis method for communication time slots between remote sensing satellites and high-orbit communication satellites. This provides an effective method and basis for inter-satellite remote control, telemetry, image data exchange, and on-orbit mission planning between remote sensing satellites and high-orbit communication satellites. By calculating communication time slots through the space segment of the remote sensing satellite, the timeliness of resource calculation for communication time slots between remote sensing satellites and high-orbit communication satellites is improved, providing effective support for inter-satellite communication between remote sensing satellites and high-orbit communication satellites. The orbital parameters calculated through the space segment of the remote sensing satellite are the most up-to-date, and the results of the visible time segment analysis carried out on the remote sensing satellite are more accurate, making the subsequent establishment and maintenance of communication links more reliable.

[0059] In some optional implementations of this disclosure, the calculation of the satellite attitude angle of the remote sensing satellite in the current regional working mode for each visible period within at least one visible period, based on the visible period, period parameters, and time intervals of different regions of the remote sensing satellite, Earth, and Sun positions, includes: for each visible period and period parameter within at least one visible period, based on the time intervals of different regions of the remote sensing satellite, Earth, and Sun positions and the visible period, detecting whether the remote sensing satellite is in a sunny area; in response to detecting that the remote sensing satellite is in a sunny area, determining whether the remote sensing satellite is in a sunny area Earth imaging working mode or a sunny area sun orientation working mode based on ground-based constraints and the visible period, and taking the sunny area Earth imaging working mode or the sunny area sun orientation working mode as the current regional working mode; calculating the side-look roll angle and the two-dimensional yaw guidance angle, or the remote sensing satellite sun orientation attitude angle, based on the visible period and period parameters; and calculating the satellite attitude angle of the remote sensing satellite in the current regional working mode based on the side-look roll angle and the two-dimensional yaw guidance angle, or based on the remote sensing satellite sun orientation attitude angle.

[0060] In response to the detection that the remote sensing satellite is not in the sunlight area (shadow area), based on the ground-based constraints and the visible time period, it is determined that the remote sensing satellite is in the shadow area Earth imaging mode or the shadow area Earth orientation mode, and the shadow area Earth imaging mode or the shadow area Earth orientation mode is taken as the current regional working mode; based on the visible time period and the time period parameters, the side-look roll angle and the two-dimensional yaw guidance angle, or the remote sensing satellite Earth orientation attitude angle, are calculated; based on the side-look roll angle and the two-dimensional yaw guidance angle, or based on the remote sensing satellite Earth orientation attitude angle, the satellite attitude angle of the remote sensing satellite in the current regional working mode is calculated.

[0061] In this optional implementation, when the current area working mode is the sunlit area Earth imaging working mode, the satellite attitude angle of the remote sensing satellite in the current area working mode is calculated based on the side-view roll angle and the two-dimensional yaw guidance angle; when the current area working mode is the sunlit area sun-oriented working mode, the satellite attitude angle of the remote sensing satellite in the current area working mode is calculated based on the sun-oriented attitude angle of the remote sensing satellite, that is, the satellite attitude angle of the remote sensing satellite in the sunlit area sun-oriented working mode is calculated based on the sun-oriented attitude angle of the remote sensing satellite.

[0062] In this optional implementation, when the current area working mode is the Earth-shadow imaging mode, the satellite attitude angle of the remote sensing satellite in the current area working mode is calculated based on the side-look roll angle and the two-dimensional yaw guidance angle; when the current area working mode is the Earth-shadow orientation mode, the satellite attitude angle of the remote sensing satellite in the current area working mode is calculated based on the Earth-shadow orientation attitude angle of the remote sensing satellite, that is, the satellite attitude angle of the remote sensing satellite in the Earth-shadow orientation mode is calculated based on the Earth-shadow orientation attitude angle of the remote sensing satellite. In this optional implementation, the satellite attitude is affected by illumination; the definition of satellite attitude differs between sunny and shadow areas, and the pointing angle of the low-Earth orbit satellite relay antenna also differs under different attitudes. Generally, the Z-axis component T of the solar vector T in the centroid orbit coordinate system is used. Ｚ This is used to determine the relationship between the remote sensing satellite, the Earth, and the Sun, thereby determining whether the satellite is in the Earth's shadow or in sunlight. Define T. Ｚ０ For the moment of appearance T Ｚ Modulus, T Ｚ１ T for the moment of entering the film Ｚ The magnitude, the component of the solar vector on the Z-axis at the moment of shadow entry and exit. Figure 2 As shown.

[0063] In this optional implementation, the time of shadow emergence T Ｚ０ and the moment of entering the film T Ｚ１ Calculated from equation (1)

[0064] (1)

[0065] In equation (1), R e It is the Earth's radius, H t For the orbital altitude of the remote sensing satellite, when |T Ｚ | <T Ｚ０ At that time, the low-orbit satellite was in the sunlight area, when |T Ｚ |≥T Ｚ１ At that time, the low-orbit satellite was in the Earth's shadow.

[0066] In this optional implementation, the ground-based annotation constraints are constraints uploaded by the ground segment of the remote sensing satellite. The ground-based annotation constraints include: the imaging working period of the remote sensing satellite. When the remote sensing satellite is in the sunlight area or not in the sunlight area (shadow area), the solar orientation working mode or the Earth orientation working mode is determined by judging whether the visible time period is in the imaging working period of the ground-based annotation constraints.

[0067] In this optional implementation, the side-look roll angle can be calculated based on the visible time period and time period parameters. The side-look roll angle refers to the rotation angle of a remote sensing satellite around its own longitudinal axis (usually assumed to be the X-axis) during its orbital operation in order to achieve side-look imaging. Adjusting the side-look roll angle is crucial for remote sensing satellites to acquire images of specific areas. It helps remote sensing satellites adjust the orientation of the sensor without changing their orbit (generally, optical satellites directly adjust the direction of the optical axis, while SAR satellites achieve this by looking sideways at one or two different angles and scanning with the SAR antenna beam), thereby observing different areas of the Earth's surface. The magnitude and adjustment method of the side-look roll angle directly affect the quality and coverage of the remote sensing images. For example, in some cases, remote sensing satellites may need to perform large-angle side-look rolls to obtain a wider ground coverage area.

[0068] In this embodiment, a two-dimensional yaw guidance angle can be calculated based on the visible time period and time period parameters. The two-dimensional yaw guidance angle includes the along-track yaw angle and the cross-track yaw angle, which are mainly used to compensate for the influence of orbital motion and Earth's rotation on the sensor's pointing, ensuring that the observed target is always in the center of the field of view. The coordinate system of the two-dimensional yaw guidance angle includes: the satellite orbit coordinate system (with the satellite's center of mass as the origin, and the three axes along the orbital radial, tangential, and orbital plane normal directions, respectively), and the line-of-sight vector (the unit vector from which the satellite points to the target). The calculation of the two-dimensional yaw guidance angle is as follows: Based on the mission requirements of the remote sensing satellite, the geographic coordinates of the target area or the observed target that requires yaw maneuvering are determined; the required yaw angle is calculated according to the remote sensing satellite's orbital parameters and the location information of the target area. This usually involves orbital mechanics and geometric calculations; based on the yaw angle combined with remote sensing satellite orbital prediction data (predicting the satellite's trajectory in orbit) and target motion characteristics, the path of the satellite's yaw attitude change over time is planned to ensure the continuity and accuracy of attitude adjustment. In this optional implementation, the sun-orientation attitude angle of the remote sensing satellite refers to the angle at which the satellite adjusts its attitude during orbital operation to ensure that its solar panels always face the sun, thereby maximizing the power generation efficiency of the solar panels. The prediction and calculation process for the sun-orientation attitude angle of the remote sensing satellite is as follows: Based on the orbital elements of the remote sensing satellite in the current time period parameters, calculate the first position component of the position vector of the remote sensing satellite pointing towards the Earth in the geocentric inertial coordinate system; based on the current time of the current time period, calculate the second position component of the position vector of the sun in the geocentric inertial coordinate system; based on the first and second position components, determine the vector of the remote sensing satellite pointing towards the sun in the geocentric inertial coordinate system, and transform this vector from the geocentric inertial coordinate system to the center-of-mass orbital coordinate system. The attitude angles of a remote sensing satellite in its sun-oriented working mode are calculated based on the angles between the satellite's sun-pointing vector and the different axes or planes of its centroid orbital coordinate system. The first position component is the satellite's position vector pointing towards the Earth. This first position component can be calculated from the satellite's position vector in the geocentric inertial coordinate system. Specifically, the geocentric inertial coordinate system is a vector with the Earth's center as the starting point and the satellite as the ending point, describing the satellite's spatial position relative to the Earth's center, and its direction is from the Earth's center towards the satellite. The satellite's position vector pointing towards the Earth, however, is in the opposite direction, pointing from the satellite towards the Earth's center; it is the inverse vector of the geocentric position vector.

[0069] In this optional implementation, the Earth-orientation attitude angle of the remote sensing satellite refers to the angle at which the satellite adjusts its attitude during orbital operation to ensure that its sensors (such as cameras and radars) always point towards the target point on the Earth's surface. The Earth-orientation attitude angle of the remote sensing satellite is calculated through the following steps: Based on the target's overhead time, the satellite's velocity vector in the Earth-fixed system is calculated using orbital elements (such as semi-major axis, inclination, and right ascension of the ascending node). The angle between the velocity vector and the north direction of the target area (the Y-axis of the Earth-fixed system) is calculated, i.e., the ground track angle, used to determine the satellite's yaw angle. Similarly, in the Earth-fixed system, based on the ground track tracking point (coordinates) and the satellite's position (coordinates), the pointing vector of the payload observation axis (the direction of the principal optical axis of the optical payload, and the direction of the center of the SAR payload antenna beam) is calculated, and the influence of the Earth's curvature on the vector direction is corrected using an ellipsoidal model. The pointing vector of the payload observation axis is transformed from the Earth-fixed system to the orbital coordinate system. Based on the pointing vector of the payload observation axis in the centroid orbital coordinate system, the satellite's roll angle, pitch angle, and yaw angle are calculated.

[0070] In this optional implementation, the calculation of the satellite attitude angles in the Earth-oriented working mode of the remote sensing satellite in the shadow area, based on the Earth-oriented attitude angles of the remote sensing satellite, includes: In the orbital coordinate system, the satellite attitude angles at different visible times are usually described by roll, pitch, and yaw. Their typical values ​​vary depending on the specific mission and design of the satellite, but generally have the following characteristics: Roll angle: The rotation angle about the satellite's longitudinal axis (the direction of the orbital tangent, i.e., the X-axis of the orbital coordinate system). In an ideal Earth-oriented state, if the satellite remains stable, the typical value of the roll angle is close to 0°, indicating that the satellite does not tilt left or right. Pitch angle: The rotation angle about the satellite's transverse axis (the direction perpendicular to the orbital plane, i.e., the Y-axis of the orbital coordinate system). To ensure that the payloads on the satellite (such as cameras) are aligned with the ground, the typical value of the pitch angle is also usually close to 0°, meaning that the satellite does not pitch excessively. Yaw angle: The rotation angle about the satellite's vertical axis (pointing towards the Earth's center, i.e., the Z-axis of the orbital coordinate system). In ideal ground orientation, the typical value of the yaw angle is also close to 0°.

[0071] In this optional implementation, calculating the satellite attitude angle of the remote sensing satellite in the solar orientation working mode in the sunny area, based on the satellite's orientation angle for sun orientation, includes: determining the normalized pointing vector of the remote sensing satellite towards the sun in the geocentric inertial coordinate system using the remote sensing satellite position vector and the sun's position vector in the time period parameters of the visible period; transforming the normalized pointing vector in the geocentric inertial coordinate system to the centroid orbital coordinate system; and constructing the coordinate transformation matrix from the geocentric inertial coordinate system to the centroid orbital coordinate system based on the satellite orbital parameters (such as orbital position and velocity direction). The first transformation matrix from the geocentric inertial coordinate system to the centroid orbital coordinate system described in this patent can be used to complete the coordinate transformation from the geocentric inertial coordinate system to the centroid orbital coordinate system. The attitude angle is defined and calculated, and the attitude angle description for satellite solar orientation (taking the "ZYX" rotation sequence as an example) includes: Yaw angle: the angle at which the X-axis of the centroid orbital coordinate system projects the pointing vector in the horizontal plane; Pitch angle: the angle between the pointing vector and the XY plane of the centroid orbital coordinate system (positive upwards). Roll angle: the angle of rotation around the pointing vector itself (usually 0 when orienting to the sun, since only the pointing direction needs to be guaranteed and the roll does not affect the pointing accuracy).

[0072] Optionally, the second position component of the Sun's position vector in the geocentric inertial coordinate system is calculated as follows: Based on the current time of the current period, the deviation between the current time period and the epoch time (inertial coordinate system J2000) is calculated (ΔT = t - J2000.0). High-precision solar ephemeris data is obtained. The Sun's position in the ecliptic coordinate system (ecliptic longitude λ, ecliptic latitude β, and Earth-Sun distance r) is obtained by interpolating the ephemeris data. Then, the ecliptic longitude is calculated using the precession model and the nutation model. ecliptic latitude Make corrections; transform the ecliptic coordinate system to the ecliptic rectangular coordinate system X as shown in equation (2). 黄道 Y 黄道 Z 黄道 Down 。

[0073] (2)

[0074] Then through the transformation matrix By transforming the solar position vector from the ecliptic rectangular coordinate system to the geocentric inertial coordinate system, we can obtain the solar position vector (obliquity of the ecliptic) in the geocentric inertial coordinate system. 23.439291° as shown in equation (3), the solar position vector in geocentric inertial coordinates is as shown in equation (4) (X, Y, Z).

[0075] (3)

[0076] (4)

[0077] In this optional implementation, the satellite imaging working period in the ground-based constraints of the remote sensing satellite can be used to detect whether the current regional working mode is either the remote sensing satellite's imaging mode in the sunlight area or the imaging mode in the shadow area. When the current regional working mode is either the remote sensing satellite's imaging mode in the sunlight area or the imaging mode in the shadow area, the satellite attitude angles in the current regional working mode are calculated based on the side-look roll angle and the two-dimensional yaw guidance angle. Calculating the satellite attitude angles in the current regional working mode based on the side-look roll angle and the two-dimensional yaw guidance angle includes: directly using the side-look roll angle as the satellite's roll angle, directly using the track-following yaw angle in the two-dimensional yaw guidance angle as the satellite's yaw angle, calculating the initial value of the remote sensing satellite's elevation angle based on the remote sensing satellite's orbital parameters and the location of the target area, and superimposing the track-crossing yaw angle in the two-dimensional yaw guidance angle. This involves calculations related to satellite orbit prediction.

[0078] Optionally, when the current regional operating mode is the solar orientation mode in the sunny area, the satellite attitude angle of the remote sensing satellite in the solar orientation mode is calculated based on the positional relationship between the remote sensing satellite and the sun. The above calculation of the satellite attitude angle in the solar orientation mode based on the positional relationship between the remote sensing satellite and the sun includes: calculating the position of the sun in the inertial coordinate system according to the visible period; calculating the vector of the sun relative to the remote sensing satellite based on this position and the position of the remote sensing satellite in the inertial coordinate system, and thus obtaining the satellite attitude angle of the remote sensing satellite in the solar orientation mode. This involves converting the position vector of the sun relative to the remote sensing satellite into angles in the satellite orbital coordinate system.

[0079] Optionally, when the current regional operating mode is the Earth-oriented mode in the shadow area, the satellite attitude angle of the remote sensing satellite in the current regional Earth-oriented mode is calculated based on the target point (e.g., the nadir point) pointed to by the remote sensing satellite on the Earth's surface. Specifically, the above calculation of the satellite attitude angle in the Earth-oriented mode in the shadow area includes: calculating the position coordinates of the remote sensing satellite in the geocentric inertial frame; calculating the value of the vector pointing from the remote sensing satellite to the Earth's center in the geocentric inertial frame based on the satellite orbit information, and using it as the initial value of the vector pointing from the remote sensing satellite to the target. If the orbit calculation uses the J2000 inertial frame, the initial value of the vector pointing to the target is corrected using the precession nutation matrix. The coordinates of the intersection point of the satellite pointing to the target vector and the surface of the Earth ellipsoid model are also calculated. Calculate the negative normal vector of the tangent plane at the intersection point, calculate the angle between the negative normal vector and the satellite pointing to the target vector, check if the angle is less than the accuracy threshold, if the angle is less than the accuracy threshold, calculate the vector value of the satellite pointing to the target vector in the satellite orbit system based on the satellite pointing to the target vector and the satellite orbit information, and then calculate the satellite attitude angle of the remote sensing satellite in the Earth orientation working mode in the shadow area based on the vector value.

[0080] The method for calculating the satellite attitude angle of a remote sensing satellite in the current regional operating mode provided by this optional implementation detects whether the remote sensing satellite is in a sunny area based on the time interval of different regions of the remote sensing satellite, Earth, and Sun positions and the visible period; in response to detecting that the remote sensing satellite is in a sunny area, it determines the current regional operating mode based on ground-based constraints and the visible period; and calculates the satellite attitude angle of the remote sensing satellite in the current regional operating mode, effectively detecting the current regional operating mode of the satellite.

[0081] In some optional implementations of this disclosure, determining the Earth imaging working mode or the sun-oriented working mode in the sunny area based on the ground-based overhead constraints and the visible time period includes: extracting the remote sensing satellite imaging working time period from the ground-based overhead constraints; detecting whether the visible time period belongs to the remote sensing satellite imaging working time period; in response to detecting that the visible time period belongs to the remote sensing satellite imaging working time period, determining that the remote sensing satellite is in the Earth imaging working mode in the sunny area; and in response to detecting that the visible time period does not belong to the remote sensing satellite imaging working time period, determining that the remote sensing satellite is in the sun-oriented working mode in the sunny area.

[0082] The method for determining the current regional working mode provided in this disclosure extracts the remote sensing satellite imaging working time period through ground-based constraints, thereby enabling the determination of the Earth imaging working mode or the Sun-oriented working mode in the sunny area, improving the reliability and accuracy of the regional working mode determination.

[0083] In some optional implementations of this disclosure, determining the Earth imaging working mode or the Earth orientation working mode of the shadow area based on the ground-based annotation constraints and the visible time period includes: extracting the remote sensing satellite imaging working time period from the ground-based annotation constraints; detecting whether the visible time period belongs to the remote sensing satellite imaging working time period; in response to detecting that the visible time period belongs to the remote sensing satellite imaging working time period, determining that the remote sensing satellite is in the Earth imaging working mode of the shadow area; and in response to detecting that the visible time period does not belong to the remote sensing satellite imaging working time period, determining that the remote sensing satellite is in the Earth orientation working mode of the shadow area.

[0084] In some optional implementations of this disclosure, the above-mentioned acquisition of the geocentric inertial coordinate system pointing vectors of remote sensing satellites and high-orbit communication satellites in the corresponding visible time period includes: acquiring a first vector pointing from the remote sensing satellite to the high-orbit communication satellite in different regional working modes; and filtering the geocentric inertial coordinate system pointing vectors in the first vector that correspond to the visible time period.

[0085] In this optional implementation, after calculating the satellite attitude angle, the timestamp corresponding to the satellite attitude angle can be determined. Based on the timestamp corresponding to the satellite attitude angle, the pointing vector in the geocentric inertial coordinate system corresponding to the satellite attitude angle is selected from the first vector and used as the geocentric inertial coordinate system pointing vector.

[0086] This optional implementation provides a method for obtaining the geocentric pointing vector, which obtains the first vector pointing from remote sensing satellites to high-orbit communication satellites under different regional operating modes; and filters the geocentric pointing vector in the geocentric inertial coordinate system corresponding to the visible time period from the first vector, thereby improving the reliability of obtaining the geocentric pointing vector.

[0087] In some optional implementations of this disclosure, the calculation of the azimuth and elevation angles of the remote sensing satellite pointing to the high-orbit communication satellite antenna based on the satellite attitude angle, the geocentric inertial coordinate system pointing vector, at least one visible time period, and time period parameters includes: determining a first transformation matrix from the geocentric inertial coordinate system to the centroid orbital coordinate system based on at least one visible time period and time period parameters; obtaining the centroid pointing vectors of the remote sensing satellite and the high-orbit communication satellite in the centroid orbital coordinate system based on the geocentric inertial coordinate system pointing vector and the first transformation matrix; determining a second transformation matrix from the centroid orbital coordinate system to the remote sensing satellite body coordinate system based on the satellite attitude angle; obtaining the body pointing vectors of the remote sensing satellite and the high-orbit communication satellite in the remote sensing satellite body coordinate system based on the centroid pointing vector and the second transformation matrix; determining a third transformation matrix from the remote sensing satellite body coordinate system to the remote sensing satellite antenna coordinate system based on the three-axis rotation angles of the remote sensing satellite antenna coordinate system and the body coordinate system; obtaining the antenna pointing vector of the remote sensing satellite pointing to the high-orbit communication satellite based on the body pointing vector and the third transformation matrix; and obtaining the azimuth and elevation angles of the remote sensing satellite pointing to the high-orbit communication satellite antenna based on the antenna pointing vector.

[0088] In this optional implementation, the centroid pointing vector of the remote sensing satellite pointing to the high-orbit communication satellite is obtained by multiplying the pointing vector of the remote sensing satellite pointing to the high-orbit communication satellite in the geoinertial coordinate system with the first transformation matrix from the geocentric inertial coordinate system to the centroid orbital coordinate system. The first transformation matrix from the geocentric inertial coordinate system to the centroid orbital coordinate system is K. I As shown in equation (5).

[0089] (5)

[0090] In equation (5), i is the satellite orbital inclination; ω is the perigee argument; Ω is the right ascension of the ascending node; and f is the true perigee angle.

[0091] The second transformation matrix from the center-of-mass orbit coordinate system to the remote sensing satellite body coordinate system is K. II Specifically, as shown in equation (6).

[0092] (6)

[0093] In equation (6), B is the roll angle; C is the pitch angle; and A is the yaw angle. Multiplying the centroid pointing vector and the second transformation matrix yields the body pointing vector in the remote sensing satellite body coordinate system.

[0094] In this optional implementation, the transformation matrix from the satellite body coordinate system to the satellite antenna coordinate system is K. III Due to the different definitions of the remote sensing satellite's coordinate system, antenna coordinate system, and the installation location of the relay telemetry and control antenna, K III The transformation matrix is ​​also different. Using the remote sensing satellite body coordinate system as the standard three-dimensional coordinate system, we look towards the origin (O) of the coordinate system from the direction pointing in the standard three-dimensional coordinate system (any one of the X, Y, or Z axes). Rotating this axis counterclockwise results in a positive angle, and rotating it clockwise results in a negative angle. The third transformation matrix from the remote sensing satellite body coordinate system to the remote sensing satellite antenna coordinate system is shown in equation (7):

[0095] (7)

[0096] like Figure 3 As shown, OXYZ is the coordinate system of the remote sensing satellite, with the origin O being the satellite's center of mass. The Z-axis points towards the Earth's center, the X-axis lies within the orbital plane and points in the satellite's flight direction, and the Y-axis is determined by the right-hand rule. The space-based relay antenna is generally installed on the satellite's Z-plane panel (hereinafter referred to as the Z-axis relay antenna). －Ｚ X －Ｚ Y －Ｚ Z －ＺThis is the antenna coordinate system for this type of antenna: origin O －Ｚ Z serves as the reference point for antenna installation. －Ｚ The X axis is parallel to the Z-axis of the satellite's coordinate system, but in the opposite direction; －Ｚ The axis is parallel to the X-axis of the satellite's coordinate system and has the same direction; the Y-axis... －Ｚ The axes are determined by the right-hand rule. The third transformation matrix K from the remote sensing satellite body coordinate system to the remote sensing satellite antenna coordinate system. III As in equation (8)

[0097] K III= (8)

[0098] In a specific example, the third transformation matrix K III For the matrix as shown in equation (8), the ontology pointing vector and K III Multiplying them together gives the antenna pointing vector.

[0099] The calculation of the pointing vector of remote sensing satellite and high-orbit communication satellite in the antenna coordinate system is shown in (9).

[0100] (9)

[0101] In equation (9), [ 12 12 12 [ ] is the antenna pointing vector from the remote sensing satellite to the high-orbit communication satellite; [ 1 1 1], [ 2 2 [2] represents the positions of the high-orbit communication satellite and the remote sensing satellite in the geocentric inertial coordinate system, respectively.

[0102] In this optional implementation, obtaining the azimuth and elevation angles of the remote sensing satellite pointing to the high-orbit communication satellite antenna based on the antenna pointing vector includes: substituting the antenna pointing vector into the vector angle conversion formula to obtain the azimuth and elevation angles of the remote sensing satellite pointing to the high-orbit communication satellite antenna. Specifically, according to the vector angle conversion formula shown in equation (10), the azimuth and elevation angles of the remote sensing satellite pointing to the high-orbit communication satellite antenna can be obtained, such as... Figure 4 As shown, assume the antenna rotates around the X-axis by an azimuth angle α and around the Y-axis by an elevation angle β, pointing towards a high-orbit communication satellite.

[0103] (10)

[0104] In equation (10), α and β are the azimuth and elevation angles of the remote sensing satellite pointing to the high-orbit communication satellite antenna, respectively.

[0105] The optional implementation provides a method for calculating the azimuth and elevation angles of a remote sensing satellite pointing to a high-orbit communication satellite antenna. The pointing vector of the remote sensing satellite in the Earth-fixed system is transformed sequentially through the centroid orbit coordinate system, the satellite body coordinate system, and the remote sensing satellite antenna coordinate system to obtain the antenna pointing vector. Based on the antenna pointing vector, the azimuth and elevation angles of the remote sensing satellite pointing to the high-orbit communication satellite antenna are obtained. This provides a reliable implementation method for converting the antenna pointing vector to the azimuth and elevation angles of the remote sensing satellite pointing to the high-orbit communication satellite antenna.

[0106] In some optional implementations of this disclosure, the second transformation matrix for determining the coordinate system from the centroid orbital coordinate system to the satellite body coordinate system based on the satellite attitude angle includes: determining the roll angle, pitch angle, and yaw angle in the satellite attitude angle; and substituting the roll angle, pitch angle, and yaw angle into the formula for the second transformation matrix to obtain the second transformation matrix from the centroid orbital coordinate system to the satellite body coordinate system.

[0107] In this optional implementation, the formula for the second transformation matrix is ​​as shown in equation (6), and the second transformation matrix can be obtained through this formula.

[0108] The optional implementation provides a method for obtaining the second transformation matrix by determining the roll angle, pitch angle, and yaw angle in the satellite attitude angles; substituting the roll angle, pitch angle, and yaw angle into the formula for the second transformation matrix, a first transformation matrix from the centroid orbital coordinate system to the satellite body coordinate system is obtained, which improves the reliability of obtaining the second transformation matrix.

[0109] In one embodiment of this disclosure, determining the first transformation matrix from the geocentric inertial coordinate system to the centroid orbital coordinate system based on at least one visible time period and time period parameters includes: determining the orbital inclination, perigee argument, right ascension of the ascending node, and true anomaly angle for at least one visible time period based on at least one visible time period and time period parameters; and substituting the orbital inclination, perigee argument, right ascension of the ascending node, and true anomaly angle into the formula for the first transformation matrix to obtain the first transformation matrix from the geocentric inertial coordinate system to the centroid orbital coordinate system.

[0110] In this optional implementation, the above-mentioned determination of the orbital inclination, perigee argument, right ascension of the ascending node, and true anomaly angle based on at least one visible time period and time period parameters includes: determining six root numbers based on the visible time period and time period parameters, and extracting the orbital inclination, perigee argument, right ascension of the ascending node, and true anomaly angle from the six root numbers.

[0111] In this optional implementation, the formula for the first transformation matrix is ​​as shown in equation (5), and the first transformation matrix can be obtained through this formula.

[0112] The optional implementation provides a method for obtaining the first transformation matrix by determining the orbital inclination, perigee argument, right ascension of the ascending node, and true anomaly of the remote sensing satellite for at least one visible period; substituting these parameters into the formula for the first transformation matrix yields the first transformation matrix from the geocentric inertial coordinate system to the centroid orbital coordinate system. This improves the reliability of obtaining the first transformation matrix.

[0113] In one embodiment of this disclosure, the above-mentioned determination of the third transformation matrix from the remote sensing satellite body coordinate system to the remote sensing satellite antenna coordinate system based on the three-axis rotation angles of the remote sensing satellite antenna coordinate system and the remote sensing satellite body coordinate system includes: determining the three-axis rotation angles based on the remote sensing satellite antenna coordinate system and the remote sensing satellite body coordinate system, wherein the three-axis rotation angles are: A1 (rotation angle around the Z-axis), B1 (rotation angle around the X-axis), and C1 (rotation angle around the Y-axis); and inputting the rotation angles around the Z-axis, the rotation angles around the X-axis, and the rotation angles around the X-axis into the three-axis rotation matrix to obtain the third transformation matrix from the remote sensing satellite body coordinate system to the remote sensing satellite antenna coordinate system.

[0114] In this optional implementation, the formula for the third transformation matrix is ​​as shown in equation (7), and the third transformation matrix can be obtained through this formula.

[0115] The optional implementation provides a method for obtaining the third transformation matrix by determining the three-axis rotation angles A1 (rotation angle around the Z-axis), B1 (rotation angle around the X-axis), and C1 (rotation angle around the Y-axis) based on the remote sensing satellite antenna coordinate system and the body coordinate system; inputting the rotation angles around the Z-axis, B1 (rotation angle around the X-axis), and C1 (rotation angle around the Y-axis) into the three-axis rotation matrix to obtain the third transformation matrix from the remote sensing satellite body coordinate system to the low-orbit antenna coordinate system, thereby improving the reliability of obtaining the third transformation matrix.

[0116] In some optional implementations of this disclosure, the above-mentioned response to detecting that the azimuth and elevation angles of the remote sensing satellite pointing to the high-orbit communication satellite antenna meet the angle constraint conditions, and detecting whether the visible period meets the telemetry and data transmission operation constraints, includes: obtaining the ground-based uplink constraint conditions from the remote sensing satellite ground segment; extracting the angle constraint conditions and the telemetry and data transmission operation constraints from the uplink constraint conditions, wherein the angle constraint conditions include: the azimuth and elevation angle ranges of the telemetry and control antenna during telemetry, remote control, and image data interaction of the high-orbit communication satellite, detecting whether the azimuth angle of the remote sensing satellite pointing to the high-orbit communication satellite antenna is within the antenna azimuth angle range, and whether the elevation angle is within the elevation angle range; and detecting whether the visible period meets the telemetry and data transmission operation constraints in response to detecting that the azimuth angle of the remote sensing satellite pointing to the high-orbit communication satellite antenna is within the antenna azimuth angle range, and the elevation angle is within the elevation angle range.

[0117] In this optional implementation, the execution entity operating on the remote sensing satellite retrieves parameters such as the azimuth and elevation angles of the remote sensing satellite antenna beam pointing towards the high-orbit communication satellite, based on the telemetry and data transmission constraints of the remote sensing satellite's data transmission working period noted on the ground segment, as well as the angular constraints of the azimuth and elevation angles of the high-orbit communication satellite's telemetry and remote control antennas. It then determines which visible time periods can be used for remote control, telemetry, image data transmission, and other data transmission between the remote sensing satellite and the high-orbit communication satellite, thus forming a forecast of communication time periods that can be used between the remote sensing satellite and the high-orbit communication satellite.

[0118] Further reference Figure 5 As an implementation of the methods shown in the above figures, this disclosure provides an embodiment of a device for pre-determining the communication time period between a remote sensing satellite and a high-orbit communication satellite. This device embodiment is similar to... Figure 1 The method embodiments shown are applied to the space segment of remote sensing satellites, and the device can be specifically applied to various electronic devices.

[0119] Figure 5 As shown, the remote sensing satellite and high-orbit communication satellite communication time period pre-determination device 500 provided in this embodiment includes: a determination unit 501, a position calculation unit 502, an acquisition unit 503, an angle calculation unit 504, an angle detection unit 505, and a time period detection unit 506. The determination unit 501 can be configured to determine at least one visible time period and time period parameters for the remote sensing satellite and the high-orbit communication satellite. The position calculation unit 502 can be configured to calculate the satellite attitude angle of the remote sensing satellite in the current regional operating mode for each visible time period within the at least one visible time period, based on the visible time period, the time period parameters, and the time intervals of different regions of the remote sensing satellite, Earth, and Sun positions. The acquisition unit 503 can be configured to acquire the geocentric inertial coordinate system pointing vectors of the remote sensing satellite and the high-orbit communication satellite in the corresponding visible time period. The angle calculation unit 504 can be configured to calculate the azimuth and elevation angles of the remote sensing satellite pointing to the high-orbit communication satellite antenna based on the satellite attitude angle, the geocentric inertial coordinate system pointing vector, at least one visible time period, and the time period parameters. The aforementioned angle detection unit 505 can be configured to detect whether the visible time period meets the telemetry and data transmission operation constraints in response to the detection that the azimuth and elevation angles of the remote sensing satellite pointing to the high-orbit communication satellite antenna meet the angle constraint conditions. The aforementioned time period detection unit 506 can be configured to use the visible time period as the communication time period between the remote sensing satellite and the high-orbit communication satellite in response to the detection that the visible time period does not meet the telemetry and data transmission operation constraints.

[0120] In this embodiment, the specific processing and technical effects of the following components in the remote sensing satellite and high-orbit communication satellite communication time period determination device 500—determination unit 501, position calculation unit 502, acquisition unit 503, angle calculation unit 504, angle detection unit 505, and time period detection unit 506—can be found in reference to [reference needed]. Figure 1 The relevant descriptions of steps 101, 102, 103, 104, 105, and 106 in the corresponding embodiments will not be repeated here.

[0121] In one embodiment of this disclosure, the position calculation unit 502 is configured to: for each visible period within at least one visible time period, detect whether the remote sensing satellite is in a sunny area based on the time interval of different regions of the remote sensing satellite, Earth, and Sun positions and the visible time period; in response to detecting that the remote sensing satellite is in a sunny area, determine the remote sensing satellite's Earth imaging working mode or Sun orientation working mode in a sunny area based on ground-based constraints and the visible time period, and set the Sun imaging working mode or Sun orientation working mode in a sunny area as the current regional working mode; calculate the side-look roll angle and the two-dimensional yaw guidance angle, or the remote sensing satellite's Sun orientation attitude angle, based on the visible time period and time period parameters; and calculate the side-look roll angle and the two-dimensional yaw guidance angle based on the side-look roll angle and the two-dimensional yaw guidance angle. The guidance angle, or based on the sun-oriented attitude angle of the remote sensing satellite, is used to calculate the satellite attitude angle of the remote sensing satellite in the current regional working mode; in response to the detection that the remote sensing satellite is not in the sunlit area, based on the ground-based constraints and the visible time period, it is determined that the remote sensing satellite is in the shadow area imaging working mode or the shadow area orientation working mode, and the shadow area imaging working mode or the shadow area orientation working mode is used as the current regional working mode; based on the visible time period and the time period parameters, the side-look roll angle and the two-dimensional yaw guidance angle, or the remote sensing satellite orientation attitude angle, are calculated; based on the side-look roll angle and the two-dimensional yaw guidance angle, or based on the remote sensing satellite orientation attitude angle, the satellite attitude angle of the remote sensing satellite in the current regional working mode is calculated.

[0122] In one embodiment of this disclosure, the aforementioned position calculation unit 502 is further configured to: extract the remote sensing satellite imaging working period from the ground-based constraints; detect whether the visible period belongs to the remote sensing satellite imaging working period; in response to detecting that the visible period belongs to the remote sensing satellite imaging working period, determine that the remote sensing satellite is in a sunlit area ground imaging working mode; and in response to detecting that the visible period does not belong to the remote sensing satellite imaging working period, determine that the remote sensing satellite is in a sunlit area sun-oriented working mode.

[0123] In one embodiment of this disclosure, the acquisition unit 503 is configured to: acquire a first vector pointing from a remote sensing satellite to a high-orbit communication satellite in different regional operating modes; and filter from the first vector the geocentric inertial coordinate system pointing vector corresponding to the visible time period.

[0124] In one embodiment of this disclosure, the angle calculation unit 504 is configured to: determine a first transformation matrix from the geocentric inertial coordinate system to the centroid orbital coordinate system based on at least one visible time period and time period parameters; obtain the centroid pointing vectors of the remote sensing satellite and the high-orbit communication satellite in the centroid orbital coordinate system based on the geocentric inertial coordinate system pointing vector and the first transformation matrix; determine a second transformation matrix from the centroid orbital coordinate system to the remote sensing satellite body coordinate system based on the satellite attitude angle; obtain the body pointing vectors of the remote sensing satellite and the high-orbit communication satellite in the remote sensing satellite body coordinate system based on the centroid pointing vector and the second transformation matrix; determine a third transformation matrix from the remote sensing satellite body coordinate system to the remote sensing satellite antenna coordinate system based on the three-axis rotation angles of the remote sensing satellite antenna coordinate system and the body coordinate system; obtain the antenna pointing vector of the remote sensing satellite pointing to the high-orbit communication satellite based on the body pointing vector and the third transformation matrix; and obtain the azimuth and elevation angles of the antenna of the remote sensing satellite pointing to the high-orbit communication satellite based on the antenna pointing vector.

[0125] In one embodiment of this disclosure, the angle calculation unit 504 is configured to: determine the roll angle, pitch angle and yaw angle in the satellite attitude angle; substitute the roll angle, pitch angle and yaw angle into the second transformation matrix formula to obtain the first transformation matrix from the centroid orbit coordinate system to the satellite body coordinate system.

[0126] In one embodiment of this disclosure, the angle calculation unit 504 is configured to: determine the orbital inclination, perigee argument, right ascension of the ascending node, and true anomaly of the remote sensing satellite for at least one visible time period based on at least one visible time period and time period parameters; and substitute the orbital inclination, perigee argument, right ascension of the ascending node, and true anomaly into the first transformation matrix formula to obtain the first transformation matrix from the geocentric inertial coordinate system to the centroid orbital coordinate system.

[0127] In one embodiment of this disclosure, the angle calculation unit 504 is configured to: determine the three-axis rotation angle based on the remote sensing satellite antenna coordinate system and the remote sensing body coordinate system; input the three-axis rotation angle into the three-axis rotation matrix to obtain the third transformation matrix from the remote sensing satellite body coordinate system to the remote sensing satellite antenna coordinate system.

[0128] In one embodiment of this disclosure, the angle detection unit 505 is configured to: obtain ground-based overhead constraints from the ground segment; extract angle constraints and telemetry and data transmission operation constraints from the overhead constraints, wherein the angle constraints include: the azimuth and elevation angle ranges of the telemetry and control antenna during telemetry, remote control, and image data interaction of the high-orbit communication satellite; detect whether the azimuth angle of the remote sensing satellite pointing to the high-orbit communication satellite antenna is within the antenna azimuth angle range, and whether the elevation angle is within the elevation angle range; and, in response to detecting that the azimuth angle of the remote sensing satellite pointing to the high-orbit communication satellite antenna is within the antenna azimuth angle range, and the elevation angle is within the elevation angle range, detect whether the visible time period satisfies the telemetry and data transmission operation constraints.

[0129] The remote sensing satellite and high-orbit communication satellite communication time period prediction device provided in this embodiment calculates the remote sensing satellite's vector during non-ground station transit periods in the space segment. Combined with the satellite attitude angles under different regional operating modes, it calculates the pointing vector of the remote sensing satellite and the high-orbit communication satellite's ground inertial system, forming a prediction of the communication time period. This provides a method and basis for inter-satellite remote control, telemetry, image data interaction, and on-orbit mission planning between the remote sensing satellite and the high-orbit communication satellite. Within a control envelope, starting from the designated ground transit period, the remote sensing satellite calculates the pointing vector of the remote sensing satellite and the high-orbit communication satellite for all non-ground station transit periods, forming a prediction of the available time period. This improves the accuracy of the communication time period prediction. This accurate prediction of the communication time period helps to formulate a scientific and reasonable work plan based on the satellite's communication capabilities, arrange the communication tasks of the remote sensing satellite, avoid the inability to transmit observation data in a timely manner due to poor communication, and improve the success rate of mission execution.

[0130] According to embodiments of this disclosure, this disclosure also provides an electronic device, a readable storage medium, and a computer program product.

[0131] Figure 6 A schematic block diagram of an example electronic device 600 that can be used to implement embodiments of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their patterns are merely examples and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0132] like Figure 6As shown, device 600 includes a computing unit 601, which can perform various appropriate actions and processes based on a computer program stored in read-only memory (ROM) 602 or a computer program loaded from storage unit 608 into random access memory (RAM) 603. RAM 603 may also store various programs and data required for the operation of device 600. The computing unit 601, ROM 602, and RAM 603 are interconnected via bus 604. Input / output (I / O) interface 605 is also connected to bus 604.

[0133] Multiple components in device 600 are connected to I / O interface 605, including: input unit 606, such as keyboard, mouse, etc.; output unit 607, such as various types of monitors, speakers, etc.; storage unit 608, such as disk, optical disk, etc.; and communication unit 609, such as network card, modem, wireless transceiver, etc. Communication unit 609 allows device 600 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0134] The computing unit 601 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 601 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 601 performs the various methods and processes described above, such as the method for determining communication periods between remote sensing satellites and high-orbit communication satellites. For example, in some embodiments, the method for determining communication periods between remote sensing satellites and high-orbit communication satellites can be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as storage unit 608. In some embodiments, part or all of the computer program can be loaded and / or installed on device 600 via ROM 602 and / or communication unit 609. When the computer program is loaded into RAM 603 and executed by the computing unit 601, one or more steps of the method for determining communication periods between remote sensing satellites and high-orbit communication satellites described above can be performed. Alternatively, in other embodiments, the computing unit 601 may be configured by any other suitable means (e.g., by means of firmware) to perform a method for determining communication time periods between remote sensing satellites and high-orbit communication satellites.

[0135] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0136] The program code used to implement the methods of this disclosure may be written in any combination of one or more programming languages. This program code may be provided to the processor or controller of a general-purpose computer, special-purpose computer, or other programmable remote sensing satellite and high-orbit communication satellite communication time determination device, such that when executed by the processor or controller, the program code causes the patterns / operations specified in the flowcharts and / or block diagrams to be implemented. The program code may be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0137] In the context of this disclosure, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0138] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the computer. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0139] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as a data server), or computing systems that include middleware components (e.g., an application server), or computing systems that include frontend components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., a communication network). Examples of communication networks include local area networks (LANs), wide area networks (WANs), and the Internet.

[0140] It should be understood that the various forms of processes shown above can be used to rearrange, add, or delete steps. For example, the steps described in this disclosure can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution disclosed in this disclosure can be achieved, and this is not limited herein.

[0141] The foregoing description of specific exemplary embodiments of the invention is for illustrative and explanatory purposes. These descriptions are not intended to limit the invention to the precise forms disclosed, and it will be apparent that many changes and variations can be made in accordance with the foregoing teachings. The exemplary embodiments were chosen and described in order to explain the specific principles of the invention and its practical application, thereby enabling those skilled in the art to implement and utilize various different exemplary embodiments of the invention, as well as various different choices and variations. The scope of the invention is intended to be defined by the claims and their equivalents.

Claims

1. A method for pre-determining the communication time period between a remote sensing satellite and a high-orbit communication satellite, characterized in that, Applied to the space segment of remote sensing satellites, the method includes: Determine at least one visible time period and time period parameters for remote sensing satellites and high-orbit communication satellites; For each visible period in the at least one visible period, based on the visible period, period parameters, and time intervals of different regions of the remote sensing satellite, Earth, and Sun positions, the satellite attitude angle of the remote sensing satellite in the current regional working mode is calculated; the current regional working mode is one of multiple regional working modes, and the regional working mode represents the time region and the imaging working period, and the time region includes: the sunlit area or the shadow area. Obtain the geocentric inertial coordinate system pointing vectors of the remote sensing satellite and the high-orbit communication satellite in the corresponding visible time period; Based on the satellite attitude angle, the Earth inertial system pointing vector, the at least one visible time period, and the time period parameter, calculate the azimuth and elevation angles of the remote sensing satellite pointing to the high-orbit communication satellite antenna; In response to the detection that the azimuth and elevation angles of the remote sensing satellite pointing to the high-orbit communication satellite antenna meet the angle constraint conditions, it is detected whether the visible period meets the telemetry and data transmission operation constraints. In response to the detection that the visible period does not meet the telemetry and data transmission working constraints, the visible period is taken as the communication period between the remote sensing satellite and the high-orbit communication satellite.

2. The method according to claim 1, characterized in that, The calculation of the satellite attitude angle of the remote sensing satellite in the current regional operating mode, based on the visible time period, time period parameters, and time intervals of different regions of the remote sensing satellite, Earth, and Sun positions, for each visible time period in the at least one visible time period, includes: For each visible period in the at least one visible period, based on the time interval of different regions of the remote sensing satellite, the Earth, and the sun and the visible period, it is detected whether the remote sensing satellite is in the sunlit area; In response to the detection that the remote sensing satellite is in a sunny area, based on ground-based constraints and the visible time period, the system determines whether the remote sensing satellite is in a sunny area Earth imaging mode or a sunny area sun orientation mode, and sets the sunny area Earth imaging mode or the sunny area sun orientation mode as the current regional working mode; based on the visible time period and time period parameters, the system calculates the side-look roll angle and the two-dimensional yaw guidance angle, or the remote sensing satellite sun orientation attitude angle; based on the side-look roll angle and the two-dimensional yaw guidance angle, or based on the remote sensing satellite sun orientation attitude angle, the system calculates the satellite attitude angle of the remote sensing satellite in the current regional working mode; In response to the detection that the remote sensing satellite is not in a sunny area, based on ground-based constraints and the visible time period, it is determined that the remote sensing satellite is in either a shadow area imaging mode or a shadow area orientation mode, and the shadow area imaging mode or the shadow area orientation mode is taken as the current regional working mode; based on the visible time period and time period parameters, the side-look roll angle and the two-dimensional yaw guidance angle, or the remote sensing satellite's orientation attitude angle, are calculated; based on the side-look roll angle and the two-dimensional yaw guidance angle, or based on the remote sensing satellite's orientation attitude angle, the satellite attitude angle of the remote sensing satellite in the current regional working mode is calculated.

3. The method according to claim 2, characterized in that, The determination of whether the remote sensing satellite is in the sunlit area Earth imaging mode or the sunlit area orientation mode based on the ground-based constraints and the visible time period includes: Extract the working time period of remote sensing satellite imaging from the constraints imposed on the ground; Detect whether the visible time period belongs to the remote sensing satellite imaging working period; In response to the detection that the visible period belongs to the imaging working period of the remote sensing satellite, it is determined that the remote sensing satellite is in the sunlit area Earth imaging working mode; In response to the detection that the visible period does not belong to the remote sensing satellite imaging working period, it is determined that the remote sensing satellite is in the sunlit area and in a sun-oriented working mode.

4. The method according to claim 1, characterized in that, The process of obtaining the geocentric inertial coordinate system pointing vectors of the remote sensing satellite and the high-orbit communication satellite in the corresponding visible time period includes: Obtain the first vector pointing from the remote sensing satellite to the high-orbit communication satellite in different regional operating modes; Filter the geocentric inertial coordinate system pointing vectors from the first vector that correspond to the visible time period.

5. The method according to claim 1, characterized in that, The calculation of the azimuth and elevation angles of the remote sensing satellite pointing to the high-orbit communication satellite antenna based on the satellite attitude angle, the Earth inertial system pointing vector, the at least one visible time period, and the time period parameter includes: Based on the at least one visible time period and the time period parameter, determine the first transformation matrix from the geocentric inertial coordinate system to the centroid orbital coordinate system; Based on the Earth inertial system pointing vector and the first transformation matrix, the centroid pointing vectors of the remote sensing satellite and the high-orbit communication satellite in the centroid orbit coordinate system of the remote sensing satellite are obtained; Based on the satellite attitude angle, determine the second transformation matrix from the centroid orbit coordinate system to the remote sensing satellite body coordinate system; Based on the centroid pointing vector and the second transformation matrix, the body pointing vectors of the remote sensing satellite and the high-orbit communication satellite in the remote sensing satellite body coordinate system are obtained; Based on the three-axis rotation angles of the remote sensing satellite antenna coordinate system and the body coordinate system, the third transformation matrix from the remote sensing satellite body coordinate system to the remote sensing satellite antenna coordinate system is determined; based on the body pointing vector and the third transformation matrix, the antenna pointing vector of the remote sensing satellite pointing to the high-orbit communication satellite is obtained. Based on the antenna pointing vector, the azimuth and elevation angles of the remote sensing satellite pointing towards the high-orbit communication satellite antenna are obtained.

6. The method according to claim 5, characterized in that, The second transformation matrix for determining the coordinate system from the centroid orbital coordinate system to the remote sensing satellite body coordinate system based on the satellite attitude angle includes: Determine the roll angle, pitch angle, and yaw angle in the satellite attitude angles; Substituting the roll angle, pitch angle, and yaw angle into the second transformation matrix formula yields the second transformation matrix from the centroid orbital coordinate system to the satellite body coordinate system.

7. The method according to claim 5, characterized in that, Based on the at least one visible time period and the time period parameter, determining the first transformation matrix from the geocentric inertial coordinate system to the centroid orbital coordinate system includes: Based on the at least one visible period and the period parameters, determine the orbital inclination, perigee argument, right ascension of the ascending node, and true anomaly angle for the at least one visible period; Substituting the orbital inclination, the perigee argument, the right ascension of the ascending node, and the true anomaly into the first transformation matrix formula yields the first transformation matrix from the geocentric inertial coordinate system to the centroid orbital coordinate system. The first transformation matrix formula is used to characterize the correspondence between the orbital inclination, perigee argument, right ascension of the ascending node, and true anomaly for each visible time period.

8. The method according to claim 5, characterized in that, Based on the three-axis rotation angles between the remote sensing satellite antenna coordinate system and the body coordinate system, the third transformation matrix from the remote sensing satellite body coordinate system to the remote sensing satellite antenna coordinate system is determined as follows: Determine the three-axis rotation angles based on the coordinate system of the remote sensing satellite antenna and the coordinate system of the remote sensing satellite body; By inputting the three-axis rotation angles into the three-axis rotation matrix, the third transformation matrix from the remote sensing satellite body coordinate system to the remote sensing satellite antenna coordinate system is obtained.

9. The method according to claim 1, characterized in that, The step of detecting whether the visible time period meets the telemetry and data transmission operation constraints in response to the detection that the azimuth and elevation angles of the antenna pointing from the remote sensing satellite to the high-orbit communication satellite meet the angle constraints includes: Obtain ground-based injection constraints from the ground segment of remote sensing satellites; Extract the angle constraint and telemetry and data transmission operation constraint from the above constraint conditions. The angle constraint includes the azimuth and elevation angle ranges of the telemetry and control antenna during telemetry, remote control, and image data interaction of the high-orbit communication satellite. Detect whether the azimuth angle of the remote sensing satellite pointing to the high-orbit communication satellite antenna is within the antenna azimuth angle range, and whether the elevation angle is within the elevation angle range. In response to detecting that the azimuth angle of the remote sensing satellite pointing to the high-orbit communication satellite antenna is within the antenna azimuth angle range and the elevation angle is within the elevation angle range, it is detected whether the visible period meets the telemetry and data transmission working constraints.

10. A device for pre-determining the communication time period between a remote sensing satellite and a high-orbit communication satellite, characterized in that, The device, used in the space segment of remote sensing satellites, includes: The determining unit is configured to determine at least one visible time period and time period parameters for remote sensing satellites and high-orbit communication satellites; The position calculation unit is configured to calculate the satellite attitude angle of the remote sensing satellite in the current regional working mode for each visible period in the at least one visible period, based on the visible period, the period parameters, and the time intervals of different regions of the remote sensing satellite, the Earth, and the Sun; the current regional working mode is one of multiple regional working modes, the regional working mode representing the time region and the imaging working period, the time region including: the sunlit area or the shadow area. The acquisition unit is configured to acquire the geocentric inertial coordinate system pointing vectors of the remote sensing satellite and the high-orbit communication satellite in the geocentric inertial coordinate system corresponding to the visible time period; An angle calculation unit is configured to calculate the azimuth and elevation angles of the remote sensing satellite pointing to the high-orbit communication satellite antenna based on the satellite attitude angle, the Earth inertial system pointing vector, the at least one visible time period, and the time period parameter. An angle detection unit is configured to detect whether the telemetry and data transmission work constraints are met during the visible period in response to the detection that the azimuth and elevation angles of the remote sensing satellite pointing to the high-orbit communication satellite antenna meet the angle constraint conditions. The time period detection unit is configured to, in response to detecting that the visible time period does not meet the telemetry and data transmission working constraints, use the visible time period as the communication time period between the remote sensing satellite and the high-orbit communication satellite.

11. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 9.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 9.

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