Low earth orbit walker constellation configuration maintenance intelligent regulation system and method

Abstract

The application relates to the technical field of constellation satellite maintenance regulation, and discloses a low-orbit Walker constellation configuration maintenance intelligent regulation system and method, which comprises the following steps: acquiring the variation trend of the in-plane phase angle and the inter-plane distance of a satellite in real time through a high-precision orbit prediction model; inputting the in-plane phase angle and the inter-plane distance into a pre-trained decision model to determine whether the parameters exceed a preset configuration maintenance threshold and to locate the unstable satellite; if the parameters exceed the limit, the model outputs the optimal orbit maneuvering parameters of the satellite based on the double-target constraints of minimum fuel consumption and shortest service interruption; fusing the phase maintenance requirements and the observation tasks on the satellite to generate an optimal control scheme, combining task planning and implementation to maintain the constellation configuration; and continuously monitoring the constellation configuration state of the satellite to maintain the stable operation of the constellation. The application realizes the automatic maintenance of the Walker constellation configuration, improves the control precision and efficiency.

Description

Technical Field

[0001] This invention relates to the field of constellation satellite maintenance and control technology, and more specifically, to a low-Earth orbit Walker constellation configuration maintenance intelligent control system and method. Background Technology

[0002] Low Earth Orbit (LEO) Walker constellations typically consist of multiple satellites with specific orbital parameters and phase distributions. Maintaining such a constellation requires consideration of orbital perturbations, phase relationships between satellites, and fuel consumption. Because the surface-to-mass ratio and perturbation environment of all satellites within an orbital plane are not identical, the orbital altitude and phase of each satellite will deviate over time, causing the constellation to fail to meet the initially designed phase distribution requirements. Therefore, orbital maneuvers are needed to dynamically adjust the phase relationships between satellites to maintain the constellation configuration.

[0003] With the deepening research on low-Earth orbit Walker constellation configuration maintenance technology, especially in large-scale constellations such as Starlink, OneWeb, and Kuiper, the need for accurately maintaining constellation configuration stability is becoming increasingly urgent. Although traditional constellation orbit maintenance methods have made some progress in orbital perturbation compensation, phase relationship adjustment, and fuel consumption optimization, they have not yet systematically solved core problems such as the coordinated control of satellite phase drift and orbital altitude changes within the orbital plane, intelligent scheduling under multi-satellite mission conflicts, and precise calculation of control quantities in complex perturbation environments. These methods are insufficient to meet the automated maintenance requirements of different orbital altitudes, constellation sizes, and mission needs.

[0004] Therefore, how to integrate multi-source orbital data, deeply explore the evolutionary laws of constellation configurations, accurately capture phase drift change characteristics, and have a highly adaptable automatic constellation configuration maintenance method has become an urgent problem to be solved. Summary of the Invention

[0005] This invention provides a low-Earth orbit Walker constellation configuration maintenance intelligent control system and method, which solves the technical problem of how to integrate multi-source orbital data, deeply explore the evolution law of constellation configuration, accurately capture phase drift change characteristics, and have a highly adaptable constellation configuration automatic maintenance method.

[0006] This invention provides a low-orbit Walker constellation configuration maintenance intelligent control system and method, comprising:

[0007] Firstly, a method for intelligently controlling the low-orbit Walker constellation configuration includes:

[0008] Constellation Situation Awareness Layer: Regularly monitors satellite orbit data to obtain the latest orbital status data for each satellite; inputs the status data into a high-precision orbital prediction model to generate orbital status prediction data for future periods; uses the prediction results to statistically analyze the in-plane phase change trend of each satellite by orbital plane, and simultaneously calculates the interplane spacing change trend of the right ascension difference of the ascending node of each orbital plane; monitors the semi-major axis, eccentricity, and inclination status of all satellites in real time through orbital root parameters;

[0009] Constellation control decision layer: Based on satellite orbital altitude, phase change trends, interplane spacing change trends, historical control records, and post-control phase response data, a neural network-driven orbit maintenance strategy generation model is constructed. When the in-plane phase or interplane spacing of a satellite exceeds a preset threshold, the orbit control strategy automatically generated by this intelligent model is invoked. Simultaneously, if the altitude of all satellites in the same orbital plane exceeds the limit, coordinated lift control is triggered. After verifying the safety of the strategy output by the model, the safety verification results are fed back to the model training system.

[0010] Multi-satellite mission planning layer: The orbit control strategy generated by the control decision layer is regarded as a standard satellite control mission. Combined with the satellite's on-orbit service requirements and ground telemetry and control resource constraints, a unified planning engine is used to generate a telemetry and control plan and a sequence of on-board software scheduling instructions that are strictly executed according to the time sequence, so as to achieve zero-conflict scheduling of multi-satellite missions.

[0011] Single-satellite execution layer: Driven by the timing of the telemetry, tracking, and command (TT&C) plan and software scheduling plan, it automatically executes the entire orbit control business chain, including orbit control parameter processing, parameter uploading to the onboard computer, orbit control engine ignition, real-time reception of post-control telemetry data, ephemeris and orbit status updates, and remaining fuel consumption calculation; it also synchronously initiates intelligent verification of the plan execution status and automatically verifies the completion status of each link based on the preset task end time. If an execution anomaly is detected (such as missing telemetry data or abnormal fuel consumption), it immediately triggers multi-level alarms.

[0012] Furthermore, high-precision orbit prediction is used to obtain the time-varying trends of the in-plane phase and interplane spacing of each constellation's satellites, including:

[0013] Based on a distributed scheduling platform, an automatic triggering mechanism for various constellation situational awareness tasks is established.

[0014] The automatic triggering mechanism automatically triggers the constellation satellite orbits according to a preset time threshold to obtain the latest orbital status information of each constellation satellite.

[0015] Based on the latest orbital status information, a high-precision prediction model is used to obtain the satellite's orbital data for the future period, resulting in orbital prediction results. The orbital data includes the instantaneous root, mean root, and orbital decay data, and the constellation satellite orbital status information data is updated synchronously. The status information data includes the semi-major axis, eccentricity, inclination, right ascension of the ascending node, and argument of perigee data.

[0016] Based on the orbit prediction results, the phase information of each satellite in the future period is statistically analyzed by grouping according to the orbital plane;

[0017] Based on the phase information, the ascending node of the reference star in each orbital plane is used to represent the entire orbital plane. By traversing the reference stars in each orbital plane, the distance between the ascending nodes of each orbital plane is accurately calculated.

[0018] Based on the distance between the ascending nodes, the system automatically updates the state information of the satellite orbit's semi-major axis, eccentricity, inclination, right ascension of the ascending node, and argument of perigee, thereby obtaining the phase change trend of each constellation satellite within the orbital plane.

[0019] Furthermore, orbital maneuvers are employed to maintain the constellation's satellite configuration, including:

[0020] The orbital parameters of the super-threshold constellation are obtained by analyzing the phase change trend. The orbital parameters include orbital altitude difference, phase difference, phase change rate, and key parameters of the space atmospheric environment.

[0021] The orbital parameters are input into a pre-built intelligent model;

[0022] After receiving the orbital parameters, the intelligent model performs calculations and analyses through a pre-trained neural network model. Based on the orbital state and phase change rate of the target satellite and the reference satellite, it outputs the corresponding orbital maintenance control quantity through feature engineering and loss function optimization.

[0023] The orbit maintenance control parameters include orbit maneuvering amount, orbit maneuvering direction, and velocity increment, to drive the constellation satellites back to the nominal constellation configuration parameter range through orbit maneuvers;

[0024] Based on the aforementioned track maintenance control parameters, the overall configuration of the track surface is further driven.

[0025] Furthermore, based on the orbital maintenance control parameters, the overall configuration of the orbital surface is further driven, including:

[0026] When the constellation situational awareness detects that all satellites in a certain orbital plane are below the nominal orbital preset altitude threshold, the phase difference between the satellites in the plane is made consistent based on the analysis results of the intelligent model and the relative phase relationship of the satellites in the plane; and an orbital maneuver plan is formulated. The orbital maneuver plan drives all constellation satellites in the orbital plane to perform orbital maneuvers synchronously according to a unified timing and orbital maintenance control, so as to obtain a preliminary constellation configuration.

[0027] Furthermore, the neural network model includes:

[0028] Feature engineering processing:

[0029]

[0030] Where: c φh This represents the coupling effect between the orbital altitude difference and the phase change rate; Δh represents the orbital altitude difference. This represents the rate of phase change.

[0031] Phase recovery loss function:

[0032]

[0033] in: The value represents the phase recovery loss function; n represents the total number of satellites. The target phase of the i-th satellite; The actual phase of the i-th satellite; Δφ (i) Let be the phase deviation of the i-th satellite; w 1 is the penalty weight for large deviations, with a value of 0.7; ω2 is the sensitivity weight for small deviations, with a value of 0.3; σ is the sensitivity adjustment parameter, with a value of 0.5.

[0034] Phase steady-state preservation loss function:

[0035]

[0036] in: The phase steady-state preservation loss function value; N is the total number of time series sampling points; Δφ k Δφ represents the phase change at time k. k+1 Δt represents the phase change at time k+1; Δt is the time interval.

[0037] Furthermore, the orbital maneuver, through joint planning of phase maintenance tasks and on-board operational requirements, generates a constellation satellite orbit control plan to be executed in a time sequence, including:

[0038] The orbit control strategy is encapsulated as a phase maintenance task, which includes key information such as orbital maneuver parameters, execution time window, and control accuracy requirements. The phase maintenance task is then processed to form a standardized task description format, and the task is transmitted to the multi-satellite mission planning mechanism.

[0039] After receiving the phase maintenance task, the multi-satellite mission planning mechanism combines the current on-board service requirements of each constellation satellite, including payload work plans, data transmission tasks, and attitude adjustment requirements. It also considers the availability of ground control network resources, including constraints such as control station coverage time, communication link status, and ground equipment working status. Through optimization algorithms, it completes the unified scheduling of multi-satellite work tasks and ground resources, and obtains a unified scheduling result.

[0040] Based on the unified scheduling results, a control plan is generated to be executed in chronological order. This plan specifies in detail the specific execution time of orbit control for each constellation satellite, the configuration of telemetry and control stations, the communication parameter settings, and the sequence of remote control commands, so that the orbit maneuver mission is completed within the specified time window.

[0041] The control plan synchronously coordinates the onboard service requirements, enabling onboard services to work together to complete orbital maneuvering missions.

[0042] Furthermore, based on the preliminary constellation configuration, the control plan is used to implement intelligent orbital control to obtain the final constellation configuration, including:

[0043] According to the control plan, the orbital maneuver parameters are accurately calculated and converted into formats to generate control commands that meet the needs of onboard operations.

[0044] Within the control time window, the ground system uploads the processed orbit control parameters to the target constellation satellites and confirms the complete upload through telemetry, so that the constellation satellites receive the correct control commands. The upload process is strictly executed according to the timing sequence set in the multi-satellite mission plan.

[0045] The constellation satellites initiate onboard propulsion to perform orbital maneuvers according to the parameters provided. Onboard attitude control maintains the constellation satellites in a stable attitude during the maneuvers, and the maneuver execution status is monitored in real time to record maneuver process data. The maneuver execution strictly follows the orbital maneuver planning and control plan.

[0046] After the orbit control is completed, the constellation satellites transmit execution status data and orbital parameters after maneuvering in real time. By receiving and parsing telemetry data, the final constellation configuration is obtained.

[0047] Furthermore, the final constellation configuration parameters are obtained by real-time monitoring of satellite orbital phase changes. If the final constellation configuration parameters do not meet one of the constellation configuration parameter maintenance indicators, adjustments are repeated according to the control plan until the final constellation configuration parameters meet any one of the constellation configuration parameter maintenance indicators, including:

[0048] Based on telemetry data following orbital maneuvers, the constellation situational awareness layer calculates the latest orbital parameters for each satellite using a high-precision orbit determination algorithm.

[0049] Based on the latest orbital parameters, in-plane phase parameters and interplane spacing parameters are calculated to form a complete set of constellation configuration parameters;

[0050] The final constellation configuration parameters are compared with the preset constellation configuration parameter maintenance index item by item. The final constellation configuration parameters are checked to see if they meet one of the parameter indices. If any parameter exceeds the allowable range of the parameter index, the configuration maintenance is deemed to be unsatisfactory.

[0051] When the configuration maintenance is found to be substandard, the track maneuver operation is performed again according to the control plan, based on the current configuration deviation and the historical control effect.

[0052] After each adjustment is completed, the repeating configuration parameters and compliance judgment process are monitored in real time to evaluate whether the adjustment effect has achieved the expected goal. When all configuration parameters of the final constellation configuration parameters meet the constellation configuration parameter maintenance index requirements, the adjustment process ends; otherwise, the next round of iterative adjustment continues.

[0053] To prevent the control process from looping indefinitely, a maximum number of control attempts is set. When the maximum number of control attempts is reached, the control process will automatically terminate and a warning message will be sent to the management personnel.

[0054] Furthermore, the constellation configuration parameter maintenance indices include:

[0055] Semi-major axis constraint: height difference Δa from nominal track ≤ 10km;

[0056] Eccentricity constraint: The difference in eccentricity from the nominal track Δe ≤ 0.0001;

[0057] Inclination constraint: The difference in inclination angle from the nominal track angle Δi ≤ 0.05°;

[0058] Ascending node right ascension constraint: the difference in right ascension between the ascending node and the nominal orbital ascending node ΔΩ ≤ 0.1°;

[0059] In-plane phase constraint: In-plane inter-satellite phase interval 40°±1°;

[0060] Interplane spacing constraint: The interval between the ascending intersection points of the orbital planes is 45° ± 1°.

[0061] Firstly, a low-orbit Walker constellation configuration maintenance intelligent control system is provided, for executing a low-orbit Walker constellation configuration maintenance intelligent control method, including:

[0062] The constellation situational awareness module is used to obtain the time-varying trends of phase and interplane spacing of satellites in each constellation orbit using high-precision orbit prediction.

[0063] The constellation control decision module is used to determine whether the in-plane and inter-plane parameters of the constellation configuration exceed preset thresholds based on the changing trend and preset constellation configuration maintenance indicators; when the in-plane or inter-plane parameters exceed the thresholds, orbital maneuvers are taken to maintain the constellation satellite configuration and obtain a preliminary constellation configuration.

[0064] The multi-satellite mission planning module is used to jointly plan the orbital maneuvers through phase maintenance missions and on-board service requirements, and generate a constellation satellite orbit control plan to be executed in a time sequence.

[0065] The intelligent control module is used to provide accurate control values, make decisions on constellation control based on the control values, and train and build a control prediction model based on historical control data and user feedback.

[0066] Verification module: Used to obtain the final constellation configuration parameters by monitoring satellite orbit phase changes in real time. If the final constellation configuration parameters do not meet one of the constellation configuration parameter maintenance indicators, the control plan is repeated until the final constellation configuration parameters meet any of the constellation configuration parameter maintenance indicators.

[0067] The beneficial effects of this invention are as follows: By establishing a complete four-layer architecture automated process, this invention realizes full-process automation from constellation situational awareness, intelligent control decision-making, multi-satellite mission planning to single-satellite execution control, which greatly reduces the repetitive workload of satellite management personnel and shortens the configuration maintenance task that originally required multiple people to work together for several hours to automated execution, significantly improving operational efficiency and response speed.

[0068] The intelligent model based on neural networks continuously tracks the changes in constellation phase. Through feature engineering and loss function optimization, it can automatically provide the optimal orbit maintenance strategy when the satellite phase exceeds the threshold, achieving millisecond-level intelligent decision response and avoiding the accumulation of configuration deviations caused by decision delays.

[0069] It provides a detailed visualization of constellation configuration and status, as well as a function to trace the execution records of orbit maintenance. It intuitively displays the phase change trends of each constellation satellite in the orbital plane through curves, enabling managers to clearly understand the detailed execution of the orbit maintenance process, and greatly improving management transparency and decision support capabilities.

[0070] Establish a comprehensive multi-level monitoring mechanism to monitor the execution status of each link from situational awareness to execution control in real time. The automatic alarm mechanism will immediately provide feedback to the management user when an anomaly occurs, ensuring the high reliability of the system and the ability to respond quickly to faults.

[0071] By accurately calculating the optimal orbital maneuver parameters through intelligent algorithms and optimizing the orbital maneuver strategy by combining the phase recovery loss function and the phase steady-state maintenance loss function, redundant orbital adjustment operations are effectively reduced, satellite fuel consumption is significantly saved, and the satellite's on-orbit lifespan is extended.

[0072] By employing a high-precision orbit prediction model to obtain satellite orbit data for the next 7 days, and combining it with intelligent control algorithms to accurately calculate orbit maintenance control quantities, the in-plane phase interval can be precisely maintained within the range of 40°±1°, and the interplane spacing can be maintained within the range of 45°±1°, significantly improving the configuration maintenance accuracy and ensuring the continuity and stability of constellation services. Attached Figure Description

[0073] Figure 1 This is a schematic diagram of a method for maintaining the intelligent control of a low-orbit Walker constellation configuration provided in an embodiment of the present invention;

[0074] Figure 2 This is a schematic diagram of a low-orbit Walker constellation configuration maintenance intelligent control system module provided in an embodiment of the present invention;

[0075] Figure 3 This is the Walker constellation configuration provided in the embodiments of the present invention;

[0076] Figure 4 This is a display of the latest orbital parameters of each satellite provided in the embodiments of the present invention;

[0077] Figure 5 This is an embodiment of the in-plane satellite phase change pattern provided in this invention;

[0078] Figure 6 This is a schematic diagram of the constellation configuration maintenance smart model structure provided in the embodiments of the present invention;

[0079] Figure 7 This is the neural network correction process provided in the embodiments of the present invention. Detailed Implementation

[0080] The subject matter described herein will now be discussed with reference to exemplary embodiments. It should be understood that these embodiments are discussed only to enable those skilled in the art to better understand and implement the subject matter described herein, and changes may be made to the function and arrangement of the elements discussed without departing from the scope of this specification. Various processes or components may be omitted, substituted, or added as needed in the examples. Furthermore, some features described in the examples may be combined in other examples.

[0081] At least one embodiment of the present invention discloses a low-orbit Walker constellation configuration maintenance intelligent control system and method, comprising:

[0082] like Figure 1 As shown, a method for intelligent control of low-orbit Walker constellation configuration maintenance includes:

[0083] Constellation Situation Awareness Layer: Regularly monitors satellite orbit data to obtain the latest orbital status data for each satellite; inputs the status data into a high-precision orbital prediction model to generate orbital status prediction data for future periods; uses the prediction results to statistically analyze the in-plane phase change trend of each satellite by orbital plane, and simultaneously calculates the interplane spacing change trend of the right ascension difference of the ascending node of each orbital plane; monitors the semi-major axis, eccentricity, and inclination status of all satellites in real time through orbital root parameters;

[0084] Constellation control decision layer: Based on satellite orbital altitude, phase change trends, interplane spacing change trends, historical control records, and post-control phase response data, a neural network-driven orbit maintenance strategy generation model is constructed. When the in-plane phase or interplane spacing of a satellite exceeds a preset threshold, the orbit control strategy automatically generated by this intelligent model is invoked. Simultaneously, if the altitude of all satellites in the same orbital plane exceeds the limit, coordinated lift control is triggered. After verifying the safety of the strategy output by the model, the safety verification results are fed back to the model training system.

[0085] Multi-satellite mission planning layer: The orbit control strategy generated by the control decision layer is regarded as a standard satellite control mission. Combined with the satellite's on-orbit service requirements and ground telemetry and control resource constraints, a unified planning engine is used to generate a telemetry and control plan and a sequence of on-board software scheduling instructions that are strictly executed according to the time sequence, so as to achieve zero-conflict scheduling of multi-satellite missions.

[0086] Single-satellite execution layer: Driven by the timing of the telemetry, tracking, and command (TT&C) plan and software scheduling plan, it automatically executes the entire orbit control business chain, including orbit control parameter processing, parameter uploading to the onboard computer, orbit control engine ignition, real-time reception of post-control telemetry data, ephemeris and orbit status updates, and remaining fuel consumption calculation; it also simultaneously initiates intelligent verification of the plan execution status and automatically checks the completion status of each link based on the preset task end time. If an execution abnormality is detected, it immediately triggers multi-level alarms.

[0087] Specifically: Constellation Situational Awareness Layer:

[0088] Satellite orbit determination: The orbit determination operation is completed daily at a set time to obtain the latest orbit status of the satellite.

[0089] High-precision orbit forecast: Calculates the satellite's orbital status for the next 7 days using a high-precision forecasting model.

[0090] In-plane phase calculation: Based on the orbital prediction results, the phase change trend of each satellite in the next 7 days is statistically analyzed according to the orbital plane.

[0091] Orbital plane spacing calculation: Based on the orbital forecast results, calculate the trend of the interval between the ascending nodes of each orbital plane over the next 7 days.

[0092] Orbital semi-major axis, eccentricity, and inclination monitoring: The semi-major axis, eccentricity, and inclination of each satellite are monitored through orbital root parameters.

[0093] Constellation-controlled decision-making level:

[0094] Intelligent model construction for control decision-making: An intelligent generation model for orbit maintenance strategy based on neural networks is constructed by using satellite orbital altitude, satellite phase change trend, satellite orbit control records, and post-orbit control phase change data.

[0095] Satellite phase control decision: Based on the satellite phase change trend, determine whether the in-plane phase and inter-plane configuration parameters of the satellite exceed the threshold. For satellites that exceed the threshold, generate an orbit control strategy to maintain the inter-plane phase through an intelligent model.

[0096] Satellite orbital altitude control decision: Based on the satellite orbital status, the satellite orbital altitude in each orbital plane is obtained. When the orbital altitude of all satellites in the orbital plane exceeds the threshold, the satellites in the orbital plane are uniformly lifted.

[0097] Manual verification of track control strategy: Constellation maintenance personnel verify the correctness of the control strategy generated by the intelligent model;

[0098] Decision-making intelligent model training: The results of manual confirmation are fed back to the control decision-making intelligent model. The intelligent model optimizes its parameters through continuous training to improve the accuracy of the model's control strategy output.

[0099] Multi-star mission planning layer:

[0100] Satellite control mission generation: The orbital control strategy generated by the constellation control decision layer is encapsulated into a satellite control mission.

[0101] Unified satellite mission planning: Combining satellite service requirements with ground resources for unified planning, generating telemetry, tracking, and command (TT&C) plans and software scheduling plans to be executed in chronological order.

[0102] Single-star execution layer:

[0103] Satellite orbit control execution: Driven by the telemetry, tracking, and command (TT&C) plan and software scheduling plan, automatically completes the following tasks: orbit control parameter processing, orbit control parameter uploading, orbit control execution, post-control telemetry reception, post-control orbit update, and onboard fuel update.

[0104] Plan execution status verification: The system monitoring software automatically checks the completion status of each plan based on its end time. If an abnormality is detected in the execution of a plan, the management user is notified via an anomaly alarm.

[0105] In another preferred embodiment, the following steps are also included:

[0106] High-precision orbit prediction is used to obtain the time-varying trends of in-plane phase and interplane spacing of satellites in each constellation.

[0107] Based on the changing trend and the preset constellation configuration maintenance index, determine whether the in-plane and inter-plane parameters of the constellation configuration exceed the preset threshold.

[0108] When the in-plane or inter-plane parameters exceed the threshold, orbital maneuvers are performed to maintain the constellation satellite configuration and obtain a preliminary constellation configuration.

[0109] The orbital maneuver is jointly planned through phase maintenance mission and on-board service requirements to generate a constellation satellite orbit control plan that is executed in a time sequence.

[0110] Based on the initial constellation configuration, configuration maintenance control is implemented again according to the aforementioned control plan to obtain the final constellation configuration.

[0111] The final constellation configuration parameters are obtained by monitoring the changes in satellite orbit phase in real time. If the final constellation configuration parameters do not meet one of the constellation configuration parameter maintenance indicators, the control plan is repeated until the final constellation configuration parameters meet any one of the constellation configuration parameter maintenance indicators.

[0112] Example 1

[0113] like Figures 3-7 As shown, the following describes the technical solution of the present invention in detail using a Low Earth Orbit Walker constellation consisting of 8 orbital planes with an inclination angle of 50° and 9 satellites evenly distributed on each orbital plane as an example.

[0114] The basic constellation configuration parameters of the Walker constellation are as follows:

[0115] Number of track surfaces: 8;

[0116] Number of satellites per orbital plane: 9;

[0117] Track inclination angle: 50°;

[0118] Total number of satellites: 72.

[0119] To ensure the normal operation of the constellation, the following configuration parameters are maintained:

[0120] Semi-major axis constraint: height difference Δa from nominal track ≤ 10km;

[0121] Eccentricity constraint: The difference in eccentricity from the nominal track Δe ≤ 0.0001;

[0122] Inclination constraint: The difference in eccentricity from the nominal track Δi ≤ 0.05°;

[0123] Ascending node right ascension constraint: the difference in right ascension between the ascending node and the nominal orbital ascending node ΔΩ ≤ 0.1°;

[0124] In-plane phase constraint: In-plane inter-satellite phase interval 40°±1°;

[0125] Interplane spacing constraint: The interval between the ascending intersection points of the orbital planes is 45° ± 1°.

[0126] Constellation Situational Awareness Layer:

[0127] 1.1 Establish an automatic triggering mechanism:

[0128] Based on a distributed scheduling platform, an automatic triggering mechanism for various constellation situational awareness tasks is established.

[0129] Set the preset time threshold to 8:00 AM daily to automatically trigger the constellation satellite orbit determination calculation;

[0130] Obtain the latest orbital status information for each constellation of satellites;

[0131] Technical Implementation:

[0132] Trigger time: 08:00:00 UTC daily;

[0133] Trigger frequency: 24-hour cycle;

[0134] Data acquisition: Orbital status of 72 satellites;

[0135] Processing time: ≤30 minutes.

[0136] 1.2 High-precision orbit prediction:

[0137] Based on the latest orbital status information, a high-precision forecasting model is used to obtain the satellite's orbital data for the next 7 days;

[0138] It should be noted that the high-precision prediction model in this embodiment is an existing high-precision model for acquiring orbital data, such as an on-board orbit prediction model based on basis functions.

[0139] The high-precision forecasting model is constructed as follows:

[0140] Establish a perturbation model: considering the main perturbation forces such as the Earth's non-spherical gravitational field (at least 20×20 order), the gravitational pull of the Sun and Moon, solar radiation pressure, and atmospheric drag;

[0141] Initialize orbital state: Use the latest orbital elements (semi-major axis a, eccentricity e, inclination i, right ascension of ascending node Ω, argument of perihelion ω, and angle of approach perihelion M) as the initial values ​​for integration;

[0142] Numerical integration solution: The Runge-Kutta-Fehlberg 7(8) order adaptive step size algorithm is adopted, and the integration step size is controlled within the range of 10-60 seconds;

[0143] Error control strategy: Set the relative error tolerance to 1×10 -12 The absolute error tolerance is 1×10 -9 To ensure forecast accuracy;

[0144] Forecast data output: Output orbital data for the next 168 hours (7 days) at 1-hour intervals, including position, velocity, and status information.

[0145] This forecasting model takes into account the effects of multiple perturbations:

[0146] Earth's gravitational field perturbation: The EGM2008 gravity field model was used and expanded to the 20×20 order.

[0147] Atmospheric drag perturbation: using the NRLMSISE-00 atmospheric density model, combined with satellite surface mass ratio parameters;

[0148] Solar radiation pressure perturbation: taking into account solar radiation pressure and the Earth's shadow effect;

[0149] Lunar and solar gravitational perturbations: Calculations of the gravitational influence of a third body based on the DE405 ephemeris;

[0150] Relativistic effects: include general relativistic correction terms;

[0151] The prediction algorithm uses a Runge-Kutta-Fehlberg 7(8) order adaptive step size integrator, with an automatic adjustment range of 10-300 seconds for the integration step size, ensuring the optimal balance between numerical integration accuracy and computational efficiency.

[0152] Numerical integration method: The Runge-Kutta-Fehlberg 7(8) order adaptive step size integration algorithm is adopted to ensure integration accuracy;

[0153] Force model parameters: EGM2008 gravity field model, DE405 planetary ephemeris, and NRLMSISE-00 atmospheric model were used.

[0154] Initial value processing: The orbit is determined based on the least squares method to obtain a high-precision initial orbit state;

[0155] Error control: The relative error tolerance is set to 1×10⁻¹², and the absolute error tolerance is set to 1×10⁻⁹ to ensure forecast accuracy.

[0156] Track data includes instantaneous root, horizontal root, and track decay data;

[0157] Synchronously update the status information data of the constellation satellite orbits;

[0158] Status information data includes semi-major axis, eccentricity, inclination, ascending node right axis, and perigee argument data;

[0159] Technical parameters:

[0160] Forecast accuracy: Position accuracy ≤ 100m, velocity accuracy ≤ 0.1m / s;

[0161] Forecast period: 7 days;

[0162] Update frequency: once a day.

[0163] 1.3 Phase Change Trend Analysis:

[0164] Based on orbital prediction results, the phase information of each satellite in the next 7 days is statistically analyzed by grouping them according to their orbital plane.

[0165] The entire orbital plane is represented by the ascending node of the reference star within each orbital plane;

[0166] By traversing eight reference satellites in each orbital plane, the distance between the ascending nodes of each orbital plane is precisely calculated.

[0167] It automatically updates satellite orbit status information and visually displays the phase change trend of each constellation satellite in the orbital plane in the form of curves.

[0168] Phase calculation: in: ω is the satellite phase angle; M is the mean anomaly angle; ω is the perigee argument angle; mod indicates modulo operation, i.e., taking the remainder after division to ensure that the phase angle is within the range of 0°-360°.

[0169] 1.4 Spacing: The ascending node of the reference star within each orbital plane is used to represent the entire orbital plane. By traversing the eight reference stars in each orbital plane, the spacing between the ascending nodes of each orbital plane is accurately obtained.

[0170] 1.5 Status Information Update: After the orbit is determined, the system automatically updates the satellite orbit semi-major axis, eccentricity, inclination, right ascension of the ascending node, and argument of perigee, and displays the phase change trend of each constellation satellite in the orbital plane in the form of curves.

[0171] Constellation-controlled decision-making level:

[0172] Intelligent Model Construction: A machine learning model is built by combining constellation phase maintenance operations. This model uses a pre-trained neural network and can output appropriate orbital maneuvers and directions based on the orbital state and phase change rate of the target satellite and the reference satellite. Specifically:

[0173] Input layer: orbital root number, constellation configuration parameters, phase change rate, satellite surface mass ratio, space perturbation environment parameters, historical maintenance records;

[0174] Hidden layers: 3 fully connected layers, 128 neurons per layer;

[0175] Output layer: controls direction and speed increment ΔV.

[0176] Feature engineering processing:

[0177]

[0178] Where: c φh This represents the coupling effect between the orbital altitude difference and the phase change rate; Δh represents the orbital altitude difference. This represents the rate of phase change.

[0179] Phase recovery loss function:

[0180]

[0181] in: The value represents the phase recovery loss function; n represents the total number of satellites. The target phase of the i-th satellite; The actual phase of the i-th satellite; Δφ (i) ω1 is the phase deviation of the i-th satellite; ω2 is the large deviation penalty weight, with a value of 0.7; ω3 is the small deviation sensitivity weight, with a value of 0.3; σ is the sensitivity adjustment parameter, with a value of 0.5.

[0182] Phase steady-state preservation loss function:

[0183]

[0184] in: The phase steady-state preservation loss function value; N is the total number of time series sampling points; Δφ k Δφ represents the phase change at time k. k+1 Δt represents the phase change at time k+1; Δt is the time interval.

[0185] Threshold exceeding judgment and parameter acquisition: When the constellation situational awareness detects that a satellite phase exceeds the threshold, it determines whether the in-plane and inter-plane parameters of the constellation configuration exceed the preset threshold based on the changing trend and the preset constellation configuration maintenance index.

[0186] The orbital parameters of constellations exceeding the threshold are obtained by analyzing the phase change trend.

[0187] Orbital parameters include orbital altitude difference, phase difference, phase change rate, and key parameters of the space atmospheric environment;

[0188] Input the orbital parameters into a pre-built intelligent model;

[0189] Intelligent models perform computational analysis using pre-trained neural network models;

[0190] Output track maintenance control parameters, including track maneuvering amount, track maneuvering direction, and velocity increment;

[0191] Decision threshold:

[0192] In-plane phase deviation: >1°;

[0193] Interface spacing deviation: >1°;

[0194] Track height deviation: >5km;

[0195] Decision response time: <10 seconds.

[0196] Intelligent decision generation: The orbital parameters are input into a pre-built intelligent model. After receiving the orbital parameters, the intelligent model performs calculations and analyses through a pre-trained neural network model. Through feature engineering and loss function optimization, it outputs the corresponding orbital maintenance control quantities, including orbital maneuvering amount, orbital maneuvering direction, and velocity increment.

[0197] Overall orbital plane control: When the constellation situational awareness detects that all satellites in a certain orbital plane are below the nominal orbital preset altitude threshold of 10km, based on the analysis results of the intelligent model and the relative phase relationship of the satellites in the plane, the phase difference between the satellites in the plane is made consistent, an orbital maneuver plan is formulated, and all constellation satellites in the orbital plane are driven to perform orbital maneuvers synchronously according to a unified timing and orbital maintenance control, so as to obtain the preliminary constellation configuration.

[0198] Manual confirmation: After the intelligent model generates the track control strategy, the management personnel confirm the strategy.

[0199] Continuous model optimization: The results of manual confirmation are fed back to the intelligent control decision model, which optimizes the model parameters through continuous training to improve the accuracy of the model's control strategy output.

[0200] Multi-star mission planning layer:

[0201] Task encapsulation:

[0202] Encapsulate the orbit control strategy as a phase maintenance task;

[0203] Phase maintenance tasks include key information such as orbital maneuver parameters, execution time windows, and control accuracy requirements.

[0204] The phase maintenance task is processed to form a standardized task description format;

[0205] The task is transferred to the multi-star mission planning mechanism.

[0206] Joint planning: After receiving the phase maintenance task, the multi-satellite mission planning mechanism combines the current onboard service requirements of each constellation satellite (including payload work plan, data transmission tasks, attitude adjustment requirements) with the availability of ground control network resources (including constraints such as control station coverage time, communication link status, and ground equipment working status), and completes the unified scheduling of multi-satellite missions and ground resources through optimization algorithms.

[0207] Optimization algorithm:

[0208] Multi-objective optimization using genetic algorithms:

[0209] Objective 1: Minimize total maneuver ΔV;

[0210] Objective 2: Maximize resource utilization;

[0211] Objective 3: Minimize task execution time;

[0212] Constraints: visibility of telemetry and control stations, communication link capacity, and satellite power limitations.

[0213] Generate control plan: Based on the unified scheduling results, generate a control plan that is executed in chronological order. The plan specifies in detail the specific execution time of orbit control for each constellation satellite, the configuration of telemetry and control stations, the communication parameter settings, and the remote control command sequence, so that the orbit maneuver mission is completed within the specified time window. The control plan synchronously coordinates the on-board service requirements.

[0214] For example:

[0215] Execution time: 2024-01-15 14:30:00UTC

[0216] Satellite ID: SAT_001;

[0217] Tracking and control station: Beijing Station;

[0218] Communication frequency: S-band 2.2GHz;

[0219] Command sequence: 14:30:00 Attitude adjustment command; 14:35:00 Thruster ignition command; 14:40:00 Maneuver execution command; 14:45:00 Attitude stabilization command.

[0220] Single-star execution layer:

[0221] Orbit control execution: Based on the control plan, the orbital maneuver parameters are accurately calculated and converted into their formats to generate control commands that meet the onboard operational requirements.

[0222] According to the control plan, the orbital maneuver parameters are precisely calculated and converted into formats to generate control commands that meet the needs of onboard operations.

[0223] Within the control time window, the ground system uploads the processed orbit control parameters to the target constellation satellites. The upload is confirmed by telemetry to ensure that the constellation satellites receive the correct control commands. The upload process is strictly executed according to the time sequence set in the multi-satellite mission plan.

[0224] Driven by the telemetry, tracking and control plan and the software scheduling plan, the system automatically completes tasks such as processing orbit control parameters, uploading orbit control parameters, executing orbit control, receiving telemetry data after control, updating orbits after control, and updating remaining fuel on the satellite.

[0225] Parameter calculation:

[0226] Speed ​​increment calculation:

[0227] Where: ΔV is the total velocity increment; ΔVx is the velocity increment in the x direction; ΔVy is the velocity increment in the y direction; and ΔVz is the velocity increment in the z direction.

[0228] Machining time calculation: Δt=ΔV / (F / m);

[0229] Where: Δt is the maneuver time; ΔV is the total velocity increment; F is the thrust; and m is the satellite mass.

[0230] Fuel consumption calculation: Δm=Δt×F / (I sp ×g);

[0231] Where: Δm is fuel consumption; Δt is maneuver time; F is thrust; I sp ρ is the specific impulse; g is the standard gravitational acceleration (9.8 m / s²). 2 ).

[0232] Mobile execution monitoring:

[0233] The constellation satellites initiate on-board propulsion to perform orbital maneuvers according to the parameters uploaded.

[0234] The satellite maintains a stable attitude during maneuvers through an onboard attitude control system.

[0235] Real-time monitoring of maneuver execution status and recording of maneuver process data;

[0236] The maneuver execution strictly follows the track maneuver planning and control plan;

[0237] After the orbit control is completed, the constellation satellites transmit execution status data and orbital parameters after the maneuver in real time.

[0238] Monitoring parameters: thruster operating status; attitude angle changes; actual speed increment; fuel consumption; maneuver accuracy assessment.

[0239] Real-time monitoring and feedback control: The final constellation configuration parameters are obtained by monitoring satellite orbital phase changes in real time. If the final constellation configuration parameters do not meet one of the constellation configuration parameter maintenance indicators, the control plan is repeated until the final constellation configuration parameters meet any one of the constellation configuration parameter maintenance indicators. Specifically:

[0240] The constellation situational awareness layer is based on telemetry data following orbital maneuvers.

[0241] The latest orbital parameters of each satellite are calculated using a high-precision orbit determination algorithm;

[0242] Calculate in-plane phase parameters and interplane spacing parameters based on the latest orbital parameters;

[0243] Forming a complete set of constellation configuration parameters;

[0244] The final constellation configuration parameters obtained are compared with the preset constellation configuration parameter maintenance index item by item;

[0245] When any parameter exceeds the allowable range of the parameter index, it is determined that the configuration maintenance is not up to standard;

[0246] When the configuration maintenance is found to be substandard, the track maneuver operation is performed again according to the control plan.

[0247] Execution status monitoring: The monitoring software tracks the execution results of each plan and automatically checks the completion status of each plan based on the plan's end time. If an abnormality is detected in the execution of a plan or a certain stage, the management user will be notified through an anomaly alarm.

[0248] For example: (phase deviation > 1°) or (interface spacing deviation > 1°);

[0249] This triggered a new round of regulation.

[0250] Number of adjustments: 1-3 times;

[0251] If the number of adjustments exceeds the maximum number of adjustments;

[0252] Send an alert to administrators;

[0253] Terminating the regulatory process;

[0254] The adjustment process has ended.

[0255] Another preferred embodiment of the present invention includes:

[0256] Example 2

[0257] Constellation Situation Awareness: Utilizing high-precision orbit prediction, the system acquires the time-varying trends of phase and interplanetary distance within the orbital plane of each constellation's satellites, specifically including:

[0258] An automatic triggering mechanism is established based on a distributed scheduling platform to automatically trigger the determination of constellation satellite orbits according to preset time thresholds;

[0259] High-precision forecasting models are used to obtain satellite orbit data for the next 7 days, including instantaneous root, horizontal root, and orbit decay data.

[0260] The phase information of each satellite is statistically analyzed by grouping them according to their orbital planes, and the orbital plane spacing is calculated using the ascending node of the reference satellite.

[0261] It automatically updates satellite orbit status information and intuitively displays phase change trends.

[0262] Intelligent control decision-making: Based on the changing trend and preset constellation configuration maintenance indicators, determine whether the in-plane and inter-plane parameters of the constellation configuration exceed preset thresholds, including:

[0263] When the in-plane phase interval exceeds 40°±1° or the inter-plane distance exceeds 45°±1°, a control decision is triggered.

[0264] Obtain the orbital parameters of constellations exceeding the threshold, including orbital altitude difference, phase difference, and phase change rate;

[0265] The orbital parameters are input into a pre-trained neural network model, and then optimized through feature engineering and loss function.

[0266] Output track maintenance control parameters, including track maneuvering, maneuvering direction, and speed increment.

[0267] Multi-satellite mission planning: Through joint planning of phase maintenance missions and onboard operational needs, a constellation satellite orbit control plan is generated for execution in a time sequence, including:

[0268] The orbit control strategy is encapsulated into a standardized phase maintenance task;

[0269] Unified scheduling is carried out by combining on-board service requirements with the availability of ground telemetry and control network resources;

[0270] Generate a detailed control plan, specifying the execution time, control station configuration, and communication parameters.

[0271] Single-satellite control: Orbital maneuvers are implemented according to the control plan to obtain a preliminary constellation configuration, including:

[0272] Accurate calculation and format conversion of orbital maneuvering parameters;

[0273] Automatically completes track control parameter processing, input, execution, and telemetry reception;

[0274] Real-time monitoring of execution status and timely alerts for abnormal situations.

[0275] Feedback-based regulation and optimization: The final constellation configuration parameters are obtained through real-time monitoring, and feedback regulation is implemented, including:

[0276] When the configuration parameters do not meet the maintenance targets, adjustments are repeated according to the control plan.

[0277] Until the final constellation configuration parameters meet the maintenance requirements;

[0278] The execution results are fed back to the intelligent model to continuously optimize the model parameters.

[0279] Through the above embodiment 2, the Walker constellation operates as follows:

[0280] By establishing a complete four-layer automated process architecture, full-process automation from situational awareness to execution control has been achieved, significantly reducing the need for manual intervention.

[0281] Under the constraints of the set configuration parameter maintenance index, the in-plane phase interval is maintained within the range of 40°±1°, and the interplanar spacing is maintained within the range of 45°±1°, which meets the requirements for normal constellation operation.

[0282] Through continuous training and optimization of neural network models, the accuracy of orbit maintenance strategies has been continuously improved, reducing unnecessary orbital maneuvers and saving fuel consumption.

[0283] A robust monitoring mechanism can detect execution anomalies in real time and promptly notify management personnel through an alarm system, ensuring the safe operation of the constellation.

[0284] By jointly planning multiple satellite missions and rationally allocating ground tracking and control resources, the efficiency of resource utilization has been improved.

[0285] like Figure 2 As shown, a low-Earth orbit Walker constellation configuration-maintaining intelligent control system includes:

[0286] The constellation situational awareness module is used to obtain the time-varying trends of phase and interplane spacing of satellites in each constellation orbit using high-precision orbit prediction.

[0287] The constellation control decision module is used to determine whether the in-plane and inter-plane parameters of the constellation configuration exceed preset thresholds based on the changing trend and preset constellation configuration maintenance indicators; when the in-plane or inter-plane parameters exceed the thresholds, orbital maneuvers are taken to maintain the constellation satellite configuration and obtain a preliminary constellation configuration.

[0288] The multi-satellite mission planning module is used to jointly plan the orbital maneuvers through phase maintenance missions and on-board service requirements, and generate a constellation satellite orbit control plan to be executed in a time sequence.

[0289] The intelligent control module is used to provide accurate control values, make decisions on constellation control based on the control values, and train and build a control prediction model based on historical control data and user feedback.

[0290] Verification module: Used to obtain the final constellation configuration parameters by monitoring satellite orbit phase changes in real time. If the final constellation configuration parameters do not meet one of the constellation configuration parameter maintenance indicators, the control plan is repeated until the final constellation configuration parameters meet any of the constellation configuration parameter maintenance indicators.

[0291] The embodiments of the present invention have been described above. However, the embodiments are not limited to the specific implementation methods described above. The specific implementation methods described above are merely illustrative and not restrictive. Those skilled in the art can make more equivalent embodiments under the guidance of the present embodiments, and all of them are within the protection scope of the present embodiments.

Claims

1. A method for intelligent control of low-orbit Walker constellation configuration maintenance, characterized in that, include: constellation Situational awareness layer: periodically monitors satellite orbit data and obtains the latest orbital status data of each satellite; The state data is input into the high-precision orbit prediction model to generate orbit state prediction data for future periods; using the prediction results, the in-plane phase change trend of each satellite is statistically analyzed for each orbital plane, and the interplane spacing change trend of the right ascension difference of the ascending node of each orbital plane is calculated simultaneously. The satellite constellation orbital status data includes the semi-major axis, eccentricity, and inclination status. Constellation control decision layer: Based on satellite orbital altitude, phase change trends, interplane spacing change trends, historical control records, and post-control phase response data, a neural network-driven orbit maintenance strategy generation model is constructed. When the in-plane phase or interplane spacing of a satellite exceeds a preset threshold, the orbit control strategy automatically generated by the orbit maintenance strategy generation model is invoked. Simultaneously, if the altitude of all satellites in the same orbital plane exceeds the limit, lift control is triggered. After verifying the safety of the strategy output by the model, the safety verification results are fed back to the model training system. Multi-satellite mission planning layer: The orbit control strategy generated by the control decision layer is regarded as a standard satellite control mission. Combined with the satellite's on-orbit service requirements and ground telemetry and control resource constraints, a unified planning engine is used to generate a telemetry and control plan and a sequence of on-board software scheduling instructions that are strictly executed according to the time sequence, so as to achieve zero-conflict scheduling of multi-satellite missions. Single-satellite execution layer: Driven by telemetry, tracking, and command (TT&C) and scheduling plans, it automatically executes the entire business chain, including orbit control parameter processing, parameter uploading to the onboard computer, orbit control engine ignition, real-time reception of post-control telemetry data, ephemeris and orbit status updates, and remaining fuel consumption. It also intelligently reviews the execution status based on the planned time window and triggers alarms in real time for abnormal situations such as missing telemetry data or fuel deviations.

2. The method of claim 1, wherein the low earth orbit Walker constellation configuration is maintained by, High-precision orbit prediction is used to obtain the time-varying trends of in-plane phase and interplane spacing of satellites in each constellation, including: Based on a distributed scheduling platform, an automatic triggering mechanism for various constellation situational awareness tasks is established. The automatic triggering mechanism automatically triggers the constellation satellite orbits to obtain the latest orbital status information of each constellation satellite according to a preset time threshold. Based on the latest orbital status information, a high-precision orbital prediction model is used to obtain the satellite's orbital data for the future period, and the orbital prediction results are obtained. By analyzing the orbital prediction results, the phase information of each satellite in the future period is statistically analyzed according to the orbital plane to obtain the phase change trend; Based on the phase information, the ascending node of the reference star in each orbital plane is used to represent the entire orbital plane. By traversing the reference stars in each orbital plane, the distance between the ascending nodes of each orbital plane is accurately calculated. Based on the distance between the ascending nodes of the orbits, the changes in the distance between the ascending nodes of each orbital surface within the future period are obtained through orbital forecasting results, thus yielding the trend of the distance between the surfaces.

3. The method of claim 1, wherein the low earth orbit Walker constellation configuration is maintained by, Maintaining the constellation's satellite configuration through orbital maneuvers includes: The orbital parameters of the super-threshold constellation are obtained by analyzing the phase change trend and the interplanar spacing change trend. The orbital parameters include orbital altitude difference, phase difference, phase change rate, and key parameters of the space atmospheric environment. The orbital parameters are input into a pre-built orbital maintenance strategy generation model; After receiving the orbital parameters, the orbital maintenance strategy generation model performs calculations and analyses using a pre-trained neural network model. Based on the orbital state and phase change rate of the target satellite and the reference satellite, it outputs the corresponding orbital maintenance control quantity through feature engineering and loss function optimization. The orbit maintenance control parameters include orbit maneuvering amount, orbit maneuvering direction, and velocity increment, to drive the constellation satellites back to the nominal constellation configuration parameter range through orbit maneuvers; Based on the aforementioned track maintenance control parameters, the overall configuration of the track surface is further driven.

4. The method of claim 3, wherein the low earth orbit Walker constellation configuration is maintained by, Based on the aforementioned orbit maintenance control parameters, the overall orbital surface configuration is further driven, including: When the constellation situational awareness detects that all satellites in a certain orbital plane are below the nominal orbital preset altitude threshold, the phase difference between satellites in the plane is made consistent based on the analysis results of the orbital maintenance strategy generation model and the relative phase relationship of the satellites in the plane. An orbital maneuver plan is developed, which drives all constellation satellites within the orbital plane to perform orbital maneuvers synchronously according to a unified timing sequence and orbit maintenance control parameters, thereby obtaining a preliminary constellation configuration.

5. The method of claim 3, wherein the low earth orbit Walker constellation configuration is maintained by, The neural network model includes: Feature engineering processing: ； wherein: is the coupling effect of the orbital height difference and the phase change rate; is the orbital height difference; is the phase change rate; Phase recovery loss function: ； in: This represents the phase recovery loss function value. Total number of satellites; For the first The target phase of the satellite; For the first The actual phase of the satellite; For the first Phase deviation of the satellite; Penalty weights for large deviations; Weights for small-bias sensitivity; These are sensitivity adjustment parameters; Phase steady-state preservation loss function: ； in: To preserve the loss function value in phase steady state; This represents the total number of time series sampling points; For the first The phase change at each moment; For the first The phase change at each moment; For time intervals.

6. The method of claim 4, wherein the low earth orbit Walker constellation configuration is maintained by, The orbital maneuvers are jointly planned through phase maintenance missions and onboard operational requirements to generate a time-sequential constellation satellite orbit control plan, including: The orbit control strategy is encapsulated as a phase maintenance task, and the phase maintenance task is processed to form a standardized task description format, which is then transmitted to the multi-satellite mission planning mechanism. After receiving the phase maintenance task, the multi-satellite mission planning mechanism combines the current onboard service needs of each constellation satellite with the availability of ground telemetry and control network resources to uniformly schedule the multi-satellite missions and ground resources, and obtain a unified scheduling result. Based on the unified scheduling results, a control plan is generated to be executed in chronological order. The control plan determines the specific execution time of orbit control for each constellation satellite, the configuration of telemetry and control stations, the setting of communication parameters, and the sequence of remote control commands, so that the orbit maneuver mission is completed within the specified time window. The control plan synchronously coordinates the onboard service requirements, enabling onboard services to work together to complete orbital maneuvering missions.

7. The intelligent control method for maintaining the low-orbit Walker constellation configuration according to claim 6, characterized in that, The final constellation configuration is obtained by implementing intelligent orbital control based on the preliminary constellation configuration through the aforementioned control plan, including: According to the control plan, the orbital maneuver parameters are accurately calculated and converted into formats to generate control commands that meet the needs of onboard operations. Within the control time window, the ground system uploads the processed orbit control parameters to the target constellation satellites and confirms the complete upload through telemetry, so that the constellation satellites receive the correct control commands. The upload process is strictly executed according to the timing sequence set in the multi-satellite mission plan. The constellation satellites initiate onboard propulsion to perform orbital maneuvers according to the parameters provided. Onboard attitude control maintains the constellation satellites in a stable attitude during the maneuvers, and the maneuver execution status is monitored in real time to record maneuver process data. The maneuver execution strictly follows the orbital maneuver planning and control plan. After the orbit control is completed, the constellation satellites transmit execution status data and orbital parameters after maneuvering in real time. By receiving and parsing telemetry data, the final constellation configuration is obtained.

8. The method of claim 7, wherein the low earth orbit Walker constellation configuration is maintained by, The final constellation configuration parameters are obtained by real-time monitoring of satellite orbital phase changes. If the final constellation configuration parameters do not meet one of the constellation configuration parameter maintenance indicators, adjustments are repeated according to the control plan until the final constellation configuration parameters meet any one of the constellation configuration parameter maintenance indicators, including: Based on telemetry data following orbital maneuvers, the constellation situational awareness layer calculates the latest orbital parameters for each satellite using a high-precision orbit determination algorithm. Based on the latest orbital parameters, in-plane phase parameters and interplane spacing parameters are calculated to form a complete set of constellation configuration parameters; The final constellation configuration parameters are compared with the preset constellation configuration parameter maintenance index item by item. The final constellation configuration parameters are checked to see if they meet one of the parameter indices. If any parameter exceeds the allowable range of the parameter index, the configuration maintenance is deemed to be unsatisfactory. When the configuration maintenance is found to be substandard, the track maneuver operation is performed again according to the control plan, based on the current configuration deviation and the historical control effect. After each adjustment is completed, the repeating configuration parameters and compliance judgment process are monitored in real time to evaluate whether the adjustment effect has achieved the expected goal. When all configuration parameters of the final constellation configuration parameters meet the constellation configuration parameter maintenance index requirements, the adjustment process ends; otherwise, the next round of iterative adjustment continues. To prevent the control process from looping indefinitely, a maximum number of control attempts is set. When the maximum number of control attempts is reached, the control process will automatically terminate and a warning message will be sent to the management personnel.

9. The method of claim 8, wherein the low earth orbit Walker constellation configuration is maintained by, The constellation configuration parameter maintenance indicators include: Semi-major axis constraint: height difference Δa from nominal track ≤ 10km; Eccentricity constraint: The difference in eccentricity from the nominal track Δe ≤ 0.0001; Inclination constraint: The difference in inclination angle from the nominal track angle Δi ≤ 0.05°; Ascending node right ascension constraint: the difference in right ascension between the ascending node and the nominal orbital ascending node ΔΩ ≤ 0.1°; In-plane phase constraint: In-plane inter-satellite phase interval 40°±1°; Interplane spacing constraint: The interval between the ascending intersection points of the orbital planes is 45° ± 1°.

10. A low earth orbit Walker constellation configuration maintenance intelligent regulation system, configured to perform a low earth orbit Walker constellation configuration maintenance intelligent regulation method according to any one of claims 1-9. include: The constellation situational awareness module is used to obtain the time-varying trends of phase and interplane spacing of satellites in each constellation orbit using high-precision orbit prediction. The constellation control decision module is used to determine whether the in-plane and inter-plane parameters of the constellation configuration exceed the preset threshold based on the changing trend and the preset constellation configuration maintenance index. When the in-plane or inter-plane parameters exceed the threshold, orbital maneuvers are performed to maintain the constellation satellite configuration and obtain a preliminary constellation configuration. The multi-satellite mission planning module is used to jointly plan the orbital maneuvers through phase maintenance missions and on-board service requirements, and generate a constellation satellite orbit control plan to be executed in a time sequence. The intelligent control module is used to provide accurate control values, make decisions on constellation control based on the control values, and train and build a control prediction model based on historical control data and user feedback. Verification module: Used to obtain the final constellation configuration parameters by monitoring satellite orbit phase changes in real time. If the final constellation configuration parameters do not meet one of the constellation configuration parameter maintenance indicators, the control plan is repeated until the final constellation configuration parameters meet any of the constellation configuration parameter maintenance indicators.

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