Inter-satellite laser communication methods, systems, computer equipment, storage media, and software products for avoiding solar interference.

Abstract

This invention provides a method, system, computer equipment, storage medium, and program product for avoiding solar interference in inter-satellite laser communication. The method includes: determining the current unit pointing light vector of the laser communication terminal in the J2000 coordinate system as the first unit pointing light vector; obtaining the solar vector in the J2000 coordinate system; calculating the angle between the first unit pointing light vector and the solar vector; if the angle is not greater than a preset angle, rotating the first unit pointing light vector along its component direction on the normal plane of the solar vector by a second angle, iteratively adjusting and accumulating the angle until the accumulated angle exceeds the preset angle; subsequently planning the motion trajectory of the rotated vector towards a safe direction on the normal plane to achieve solar interference avoidance. This invention can avoid solar interference before and after the establishment of inter-satellite laser communication. By directional rotation along the component of the normal plane, it avoids the terminal directly looking at the sun, significantly improving the safety of the avoidance process, while also helping to maintain pointing stability.

Description

Technical Field

[0001] This invention belongs to the field of space laser communication technology, and particularly relates to a method, system, computer equipment, storage medium and program product for inter-satellite laser communication to avoid solar interference. Background Technology

[0002] Inter-satellite links are links used for communication between satellites, enabling the transmission and exchange of information between them. Solar interference is a significant factor affecting link communication, not only interrupting communication but also causing irreversible damage to sensitive components inside the laser communication terminal.

[0003] Patent application No. 2023110441743 discloses an inter-satellite link solar interference avoidance method and system. It calculates the pointing vector from the first satellite to the second satellite by acquiring the ephemeris information, satellite attitude, and solar vector of the first satellite, and combining this with the received ephemeris information of the second satellite. Then, it calculates the angle between the pointing vector and the solar vector to determine whether to initiate solar interference avoidance. However, this patent application only proposes the conditions for solar interference avoidance, without specifying how to specifically control the laser communication terminal to implement solar interference avoidance, or whether the avoidance strategy can prevent the terminal from directly facing the sun.

[0004] Patent application No. 2022100640074 discloses a method, device, and medium for on-orbit autonomous solar interference avoidance by spaceborne laser communication equipment. After the inter-satellite laser communication link is established, the attitude and orbit control subsystem continuously predicts the current time and the inter-satellite laser communication link vector and the solar incidence vector T seconds later. It determines the angle between the link vector and the solar incidence vector; if the angle is less than the solar interference avoidance angle, the attitude and orbit control subsystem calculates the servo azimuth angle increment and servo pitch angle increment that the spaceborne laser communication equipment should deflect to avoid solar interference and sends them to the satellite service subsystem. However, this patent application can only perform solar interference avoidance after the laser link is established; solar interference damage cannot be avoided before the link is established.

[0005] Patent application number 202411563172X discloses a method and system for inter-satellite laser communication to avoid direct sunlight. It determines the angle between the satellite-broadcast solar vector and the current optical axis pointing vector; if the angle is less than 3°, it autonomously enters a solar interference avoidance mode. The solar vector is converted to a two-dimensional coordinate system of the optical antenna azimuth and elevation to determine the azimuth, elevation value, and direction of azimuth and elevation changes. When the angle between the pointing vector and the solar vector is greater than 3°, the solar interference avoidance is autonomously terminated, and the link is re-established. However, this patent application does not specify the operating mode of the laser communication terminal when the solar interference avoidance is terminated. An inappropriate operation of this process could result in the laser communication terminal directly facing the sun. Summary of the Invention

[0006] This invention provides a method, system, computer equipment, storage medium, and program product for avoiding solar interference in inter-satellite laser communication. By projecting the pointing light vector of the laser communication terminal onto a plane perpendicular to the solar vector in the J2000 coordinate system, the angle at which the pointing light vector approaches the solar vector is determined, and based on this, the movement direction of the laser communication terminal to avoid solar interference and the trajectory to end the solar interference are planned, so as to avoid the laser communication terminal looking directly at the sun during the movement to avoid solar interference.

[0007] In a first aspect, the present invention provides a method for avoiding solar interference in inter-satellite laser communication, comprising:

[0008] S1, determine the current unit pointing light vector of the laser communication terminal in the J2000 coordinate system, and use it as the first unit pointing light vector;

[0009] S2, obtain the solar vector in the J2000 coordinate system;

[0010] S3, the unit pointing light vector when the angle between the unit pointing light vector of the laser communication terminal and the solar vector is greater than a preset angle is taken as the second unit pointing light vector;

[0011] S4, determine the components of the first unit pointing light vector in the direction of the solar vector and the components in the solar vector normal plane;

[0012] S5, determine the angle between the first unit pointing light vector and the solar vector based on the component of the first unit pointing light vector in the direction of the solar vector and the component in the normal plane of the solar vector, and use it as the first angle;

[0013] S6, determine whether the first angle is greater than the preset angle;

[0014] If the angle is greater than the preset angle, then the laser communication terminal will not perform solar overpass avoidance.

[0015] If the angle is not greater than the preset angle, the first unit pointing light vector of the laser communication terminal is rotated by a second angle along the component direction of the first unit pointing light vector on the solar vector normal plane to obtain the third unit pointing light vector.

[0016] S7, determine whether the sum of the first angle and the second angle is greater than the preset angle;

[0017] If the angle is greater than the preset angle, the trajectory of the component of the third unit pointing light vector on the solar vector normal plane during the process of the third unit pointing light vector moving to the second unit pointing light vector is determined, so as to serve as the trajectory of the component of the unit pointing light vector of the laser communication terminal on the solar vector normal plane.

[0018] If the angle is not greater than the preset angle, the sum of the first angle and the second angle is taken as the first angle, and the third unit pointing light vector is taken as the first unit pointing light vector. Then, return and execute the operation of S8.

[0019] Optionally, determining the current unit pointing light vector of the laser communication terminal in the J2000 coordinate system as the first unit pointing light vector includes:

[0020] Calculate the first unit pointing light vector using the following formula. :

[0021] ;

[0022] in, Let |·| be the pointing light vector of the laser communication terminal in the J2000 coordinate system; |·| represents the magnitude of the vector. This is the transformation matrix of the local coordinate system relative to the J2000 coordinate system; T(pitch, yaw) is the transformation matrix of the laser communication terminal's reference coordinate system relative to the local satellite coordinate system; T(pitch, yaw) is the transformation matrix of the output coordinate system relative to the laser communication terminal coordinate system calculated based on the laser communication terminal's pitch angle (pitch) and azimuth angle (yaw). The output vector in the output coordinate system of the laser communication terminal is represented by T; T represents the transpose of the matrix.

[0023] Optionally, determining the components of the first unit pointing light vector in the direction of the solar vector and its components in the solar vector normal plane includes:

[0024] Calculate the first unit pointing light vector using the following formula. In the solar vector Components of direction :

[0025] ;

[0026] Where |·| represents the magnitude of the vector;

[0027] Calculate the first unit pointing light vector using the following formula. In the solar vector Components on the normal plane :

[0028] .

[0029] Optionally, determining the angle between the first unit pointing light vector and the solar vector based on the components of the first unit pointing light vector in the direction of the solar vector and the components in the normal plane of the solar vector, as the first angle, includes:

[0030] The angle θ between the first unit pointing light vector and the solar vector is calculated using the following formula:

[0031] ;

[0032] in, The component of the first unit pointing light vector on the solar vector normal plane; The first unit represents the component of the light vector pointing in the direction of the solar vector; |·| represents the magnitude of the vector.

[0033] Optionally, the step of rotating the first unit pointing light vector of the laser communication terminal along the component direction of the first unit pointing light vector on the solar vector normal plane by a second angle to obtain the third unit pointing light vector includes:

[0034] Calculate the third unit pointing light vector using the following formula. :

[0035] ;

[0036] Where α is the value of the second angle; The component of the first unit pointing light vector on the solar vector normal plane; The first unit is the component of the light vector pointing in the direction of the solar vector.

[0037] Optionally, determining the trajectory of the component of the third unit pointing light vector on the solar vector normal plane during the process of the third unit pointing light vector moving to the second unit pointing light vector, as the trajectory of the component of the unit pointing light vector of the laser communication terminal on the solar vector normal plane, includes:

[0038] The trajectory of the component of the third unit pointing light vector on the solar vector normal plane during the process of the third unit pointing light vector moving to the second unit pointing light vector is calculated using the following formula. :

[0039] ;

[0040] Where α is the value of the second angle; The component of the first unit pointing light vector on the solar vector normal plane; ω is the component of the second unit pointing light vector on the solar vector plane; W is the angular velocity of the third unit pointing light vector moving to the second unit pointing light vector; t is the time it takes for the third unit pointing light vector to move to the second unit pointing light vector; π is pi.

[0041] In a second aspect, the present invention provides an inter-satellite laser communication solar interference avoidance system, comprising:

[0042] The first determining module is used to determine the current unit pointing light vector of the laser communication terminal in the J2000 coordinate system, and use it as the first unit pointing light vector;

[0043] The acquisition module is used to acquire the solar vector in the J2000 coordinate system;

[0044] The second determining module is used to take the unit pointing light vector of the laser communication terminal when the angle between the unit pointing light vector and the sun vector is greater than a preset angle as the second unit pointing light vector;

[0045] The third determining module is used to determine the components of the first unit pointing light vector in the direction of the solar vector and the components in the solar vector normal plane;

[0046] The fourth determining module is used to determine the angle between the first unit pointing light vector and the solar vector based on the components of the first unit pointing light vector in the direction of the solar vector and the components in the normal plane of the solar vector, so as to use it as the first angle;

[0047] The first judgment module is used to determine whether the first angle is greater than the preset angle;

[0048] The fifth determining module is used to determine that the laser communication terminal will not perform solar overshoot avoidance if the first determining module determines that the first angle is greater than the preset angle.

[0049] The vector rotation module is used to rotate the first unit pointing light vector of the laser communication terminal by a second angle along the component direction of the first unit pointing light vector on the solar vector normal plane, when the first judgment module determines that the first angle is not greater than the preset angle, to obtain the third unit pointing light vector.

[0050] The second judgment module is used to determine whether the sum of the first angle and the second angle is greater than a preset angle;

[0051] The sixth determining module is used to determine the trajectory of the component of the third unit pointing light vector on the solar vector normal plane during the process of the third unit pointing light vector moving to the second unit pointing light vector when the second determining module determines that the sum of the first angle and the second angle is greater than the preset angle, so as to serve as the trajectory of the component of the unit pointing light vector of the laser communication terminal on the solar vector normal plane.

[0052] The seventh determining module is used to, when the second determining module determines that the sum of the first angle and the second angle is not greater than a preset angle, take the sum of the first angle and the second angle as the first angle and take the third unit pointing light vector as the first unit pointing light vector, return and execute the operation of the vector rotation module.

[0053] Thirdly, the present invention provides a computer device including a processor and a memory; wherein, when the processor executes a computer program stored in the memory, it implements the steps of the inter-satellite laser communication solar interference avoidance method described in the first aspect.

[0054] Fourthly, the present invention provides a computer-readable storage medium for storing a computer program; when the computer program is executed by a processor, it implements the steps of the inter-satellite laser communication solar outage avoidance method described in the first aspect.

[0055] Fifthly, the present invention provides a computer program product, including computer-executable instructions or a computer program, which, when executed by a processor, implements the steps of the inter-satellite laser communication solar interference avoidance method described in the first aspect.

[0056] Beneficial effects:

[0057] This invention calculates the angle between the unit pointing light vector of the laser communication terminal and the solar vector in the J2000 coordinate system in real time, and adjusts the pointing direction along the plane component of the solar vector when the angle approaches a preset safety angle, effectively avoiding damage to the optical components of the laser communication terminal caused by looking directly at the sun.

[0058] This invention decomposes the pointing light vector into components along the direction of the solar vector and its normal plane, enabling precise control of the rotation direction and angle by the laser communication terminal. This significantly improves the safety and reliability of avoidance motion by mitigating the risk of secondary pointing at the sun due to improper path during the avoidance process.

[0059] This invention does not rely on established inter-satellite laser links and can autonomously assess and plan movement for solar outage risks before communication is established. It solves the inherent defect of existing methods that cannot cope with solar outage threats before link establishment and achieves continuous protection from standby to link establishment.

[0060] This invention, by iteratively accumulating angles and judging termination conditions in real time, can minimize the number of adjustment steps and movement time while meeting the safety angle requirements. This helps maintain the pointing stability of the communication terminal and improves the overall response efficiency and energy utilization efficiency of the laser communication terminal. Attached Figure Description

[0061] To more clearly illustrate the technical solution of the present invention, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0062] Figure 1A flowchart illustrating an inter-satellite laser communication solar outage avoidance method provided in an embodiment of the present invention;

[0063] Figure 2 A schematic diagram of the J2000 coordinate system provided in an embodiment of the present invention;

[0064] Figure 3 A schematic diagram of the local satellite coordinate system, the terminal reference coordinate system, and the terminal light-emitting coordinate system provided in an embodiment of the present invention;

[0065] Figure 4 This is a schematic diagram of the solar overshoot avoidance process of the terminal in the J2000 coordinate system provided in an embodiment of the present invention;

[0066] Figure 5 This is a schematic diagram of an inter-satellite laser communication solar interference avoidance system provided in an embodiment of the present invention. Detailed Implementation

[0067] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0068] Example 1

[0069] like Figure 1 As shown, this embodiment of the invention provides a method for avoiding solar interference in inter-satellite laser communication, including:

[0070] S1, determine the current unit pointing light vector of the laser communication terminal in the J2000 coordinate system, and use it as the first unit pointing light vector.

[0071] In this step, the attitude data of the local satellite (representing the local satellite coordinate system O) is used. sat _XYZ relative to the J2000 coordinate system O J2000 The transformation matrix of _XYZ is used (represented by) the installation matrix of the laser communication terminal (hereinafter referred to as the terminal) on the satellite (representing the terminal's reference coordinate system O). term The transformation matrix of _XYZ relative to the local coordinate system is used as follows: (represented by) the laser communication terminal's pivot angle (pitch, yaw) is used to calculate the terminal's pointing light vector in the J2000 coordinate system, and this pointing light vector is converted into a unit pointing light vector.

[0072] Each coordinate system is as follows Figure 2 and Figure 3 As shown, O J2000_XYZ is the J2000 coordinate system, which is fixed to the Earth and is a universal space coordinate system.

[0073] Osat_XYZ is the local coordinate system, which is fixed to the satellite. The origin is usually located at the satellite's center of mass, the Z-axis points to the Earth, the Y-axis is perpendicular to the orbital plane, and the X-axis points in the direction of the satellite's motion.

[0074] O term _XYZ is the terminal reference coordinate system, which is fixed to the laser terminal and has no specific direction requirement, satisfying the right-hand screw criterion.

[0075] O L _XYZ is the terminal output coordinate system, which is fixed to the output lens of the laser terminal. The X-axis points in the output direction, and there are no other specific requirements. It satisfies the right-hand screw criterion.

[0076] For example, the first unit pointing light vector is calculated according to the following formula. :

[0077] .

[0078] in, Let |·| be the pointing light vector of the laser communication terminal in the J2000 coordinate system; |·| represents the magnitude of the vector. This is the transformation matrix of the local coordinate system relative to the J2000 coordinate system; T(pitch, yaw) is the transformation matrix of the laser communication terminal's reference coordinate system relative to the local satellite coordinate system; T(pitch, yaw) is the transformation matrix of the output coordinate system relative to the laser communication terminal coordinate system calculated based on the laser communication terminal's pitch angle (pitch) and azimuth angle (yaw). The output vector in the output coordinate system of the laser communication terminal is represented by T; T represents the transpose of the matrix.

[0079] S2, obtain the solar vector in the J2000 coordinate system.

[0080] S3, the unit pointing light vector when the angle between the unit pointing light vector of the laser communication terminal and the sun vector is greater than a preset angle is taken as the second unit pointing light vector.

[0081] S4, determine the components of the first unit pointing light vector in the direction of the solar vector and the components in the solar vector normal plane.

[0082] For example, the first unit pointing light vector is calculated according to the following formula. In the solar vector Components of direction :

[0083] .

[0084] Where |·| represents the magnitude of the vector.

[0085] Calculate the first unit pointing light vector using the following formula. In the solar vector Components on the normal plane :

[0086] .

[0087] S5, determine the angle between the first unit pointing light vector and the solar vector based on the component of the first unit pointing light vector in the direction of the solar vector and the component in the normal plane of the solar vector, and use it as the first angle.

[0088] For example, the angle θ between the first unit pointing light vector and the sun vector is calculated according to the following formula:

[0089] .

[0090] in, The component of the first unit pointing light vector on the solar vector normal plane; The first unit represents the component of the light vector pointing in the direction of the solar vector; |·| represents the magnitude of the vector.

[0091] S6, determine whether the first angle is greater than the preset angle.

[0092] If the angle is greater than the preset angle, then the laser communication terminal will not perform solar overshoot avoidance.

[0093] If the angle is not greater than the preset angle, the first unit pointing light vector of the laser communication terminal is rotated by a second angle along the component direction of the first unit pointing light vector on the solar vector normal plane to obtain the third unit pointing light vector.

[0094] For example, the third unit pointing light vector is calculated according to the following formula. :

[0095] .

[0096] Where α is the value of the second angle; The component of the first unit pointing light vector on the solar vector normal plane; The first unit is the component of the light vector pointing in the direction of the solar vector.

[0097] S7, determine whether the sum of the first angle and the second angle is greater than the preset angle.

[0098] If the angle is greater than the preset angle, the trajectory of the component of the third unit pointing light vector on the solar vector normal plane during the process of the third unit pointing light vector moving to the second unit pointing light vector is determined, and used as the trajectory of the component of the unit pointing light vector of the laser communication terminal on the solar vector normal plane.

[0099] For example, the trajectory of the component of the third unit pointing light vector on the solar vector normal plane during the process of the third unit pointing light vector moving to the second unit pointing light vector is calculated according to the following formula. :

[0100] .

[0101] Where α is the value of the second angle; The component of the first unit pointing light vector on the solar vector normal plane; ω is the component of the second unit pointing light vector on the solar vector plane; W is the angular velocity of the third unit pointing light vector moving to the second unit pointing light vector; t is the time it takes for the third unit pointing light vector to move to the second unit pointing light vector; π is pi.

[0102] If the angle is not greater than the preset angle, the sum of the first angle and the second angle is taken as the first angle, and the third unit pointing light vector is taken as the first unit pointing light vector. Then, return and execute the operation in S6 of rotating the first unit pointing light vector of the laser communication terminal along the component direction of the first unit pointing light vector on the solar vector normal plane by the second angle to obtain the third unit pointing light vector.

[0103] like Figure 4 As shown, Solar Vector 1: The solar vector in the J2000 coordinate system provided by satellite broadcast, i.e. .

[0104] Solar Vector Method Plane 2: A plane perpendicular to the solar vector.

[0105] When triggering the avoidance of solar interference, the terminal unit points to light vector 3, i.e. .

[0106] When triggering the avoidance of solar interference, the terminal unit points to the component 4 of the light vector 3 on the solar vector normal plane 2, i.e. .

[0107] When triggering the avoidance of solar interference, the terminal unit points to the component 5 of the light vector 3 in the direction of the solar vector 1, i.e. .

[0108] After triggering the avoidance of solar interference, the terminal unit points to light vector 6, i.e. .

[0109] The terminal unit after triggering the avoidance of solar interference points to the component 7 of the light vector 6 on the solar vector normal plane 2, i.e. .

[0110] The trajectory 8 of the terminal unit pointing to the light vector after the removal of solar interference avoidance on the solar vector normal plane 2, i.e. .

[0111] During the process of removing the solar interference, the terminal unit pointing light vector has a component of 9 on the solar vector normal plane 2.

[0112] To avoid the terminal unit pointing to light vector 10 at the end of the solar interference.

[0113] To avoid the terminal unit pointing to the light vector 10 at the end of the solar interference, which has component 11 on the solar vector normal plane 2, i.e. .

[0114] Terminal unit points to light vector 3 and solar vector The threshold angle θ between them corresponds to curve 12 on the solar vector plane 2.

[0115] When the angle θ between the unit pointing light vector 3 and the solar vector 1 is less than the set threshold (i.e. When within the closed curve 12, solar interference avoidance will be triggered, at which point the terminal will... Move to When the avoidance of solar interference is lifted, the terminal will... The terminal moves along trajectory 8 to the unit pointing light vector 10. This embodiment ensures that the terminal's unit pointing light vector never intersects with the closed curve 12 during the process of avoiding solar interference, that is, the terminal will not be directly facing the sun.

[0116] In summary, this embodiment provides a method for avoiding solar interference in inter-satellite laser communication. By calculating the angle between the unit pointing light vector of the laser communication terminal and the solar vector in the J2000 coordinate system in real time, and adjusting the pointing direction along the plane component of the solar vector when the angle approaches a preset safety angle, the method effectively avoids damage to the optical components of the laser communication terminal caused by looking directly at the sun.

[0117] This embodiment decomposes the pointing light vector into components along the direction of the solar vector and its normal plane, enabling precise control of the rotation direction and angle by the laser communication terminal. This significantly improves the safety and reliability of the avoidance movement by mitigating the risk of secondary pointing at the sun due to improper path during the avoidance process.

[0118] This embodiment does not rely on the established inter-satellite laser link and can realize autonomous judgment and motion planning of solar outage risk before communication is established. It solves the inherent defects of existing methods that cannot deal with solar outage threats before link establishment and realizes continuous avoidance protection throughout the entire process from standby to link establishment.

[0119] This embodiment, by iteratively accumulating the angle and judging the termination condition in real time, can minimize the number of adjustment steps and movement time while meeting the safety angle requirements. This helps maintain the pointing stability of the communication terminal and improves the overall response efficiency and energy utilization efficiency of the laser communication terminal.

[0120] Example 2

[0121] Based on the same inventive concept as Embodiment 1, this embodiment also provides an inter-satellite laser communication solar outage avoidance system. Since the principle of this system in solving the problem is similar to the aforementioned inter-satellite laser communication solar outage avoidance method, the implementation of this system can refer to the implementation of the inter-satellite laser communication solar outage avoidance method.

[0122] like Figure 5 As shown, the inter-satellite laser communication solar interference avoidance system includes:

[0123] The first determining module 10 is used to determine the current unit pointing light vector of the laser communication terminal in the J2000 coordinate system, so as to serve as the first unit pointing light vector.

[0124] Module 20 is used to obtain the solar vector in the J2000 coordinate system.

[0125] The second determining module 30 is used to take the unit pointing light vector of the laser communication terminal when the angle between the unit pointing light vector and the sun vector is greater than a preset angle as the second unit pointing light vector.

[0126] The third determining module 40 is used to determine the components of the first unit pointing light vector in the direction of the solar vector and the components in the solar vector normal plane.

[0127] The fourth determining module 50 is used to determine the angle between the first unit pointing light vector and the solar vector based on the components of the first unit pointing light vector in the direction of the solar vector and the components in the normal plane of the solar vector, so as to use it as the first angle.

[0128] The first judgment module 60 is used to determine whether the first angle is greater than the preset angle.

[0129] The fifth determining module 70 is used to determine that the laser communication terminal will not perform solar overshoot avoidance when the first determining module determines that the first angle is greater than the preset angle.

[0130] The vector rotation module 80 is used to rotate the first unit pointing light vector of the laser communication terminal by a second angle along the component direction of the first unit pointing light vector on the solar vector normal plane, when the first judgment module determines that the first angle is not greater than the preset angle, so as to obtain the third unit pointing light vector.

[0131] The second judgment module 90 is used to determine whether the sum of the first angle and the second angle is greater than a preset angle.

[0132] The sixth determining module 100 is used to determine the trajectory of the component of the third unit pointing light vector on the solar vector normal plane during the process of the third unit pointing light vector moving to the second unit pointing light vector when the second determining module determines that the sum of the first angle and the second angle is greater than the preset angle, so as to use it as the trajectory of the component of the unit pointing light vector of the laser communication terminal on the solar vector normal plane.

[0133] The seventh determining module 110 is used to, when the second determining module determines that the sum of the first angle and the second angle is not greater than a preset angle, take the sum of the first angle and the second angle as the first angle and take the third unit pointing light vector as the first unit pointing light vector, return and execute the operation of the vector rotation module.

[0134] For more detailed information on the working process of each of the above modules, please refer to the relevant content disclosed in Example 1, which will not be repeated here.

[0135] Example 3

[0136] This embodiment provides a computer device, including a processor and a memory; wherein, when the processor executes the computer program stored in the memory, it implements the steps of the inter-satellite laser communication solar outage avoidance method described in Embodiment 1.

[0137] For a more detailed explanation of the above method, please refer to the relevant content disclosed in Example 1, which will not be repeated here.

[0138] Example 4

[0139] This embodiment provides a computer-readable storage medium for storing a computer program; when the computer program is executed by a processor, it implements the steps of the inter-satellite laser communication solar outage avoidance method described in Embodiment 1.

[0140] For a more detailed explanation of the above method, please refer to the relevant content disclosed in Example 1, which will not be repeated here.

[0141] Example 5

[0142] This embodiment provides a computer program product, including computer-executable instructions or a computer program. When the computer-executable instructions or the computer program are executed by a processor, they implement the steps of the inter-satellite laser communication solar interference avoidance method described in Embodiment 1.

[0143] For a more detailed explanation of the above method, please refer to the relevant content disclosed in Example 1, which will not be repeated here.

[0144] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the systems, devices, storage media, and computer program products disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple, and relevant parts can be referred to the method section.

[0145] Those skilled in the art will clearly understand that the techniques in the embodiments of the present invention can be implemented using software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solutions in the embodiments of the present invention, or the parts that contribute to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in various embodiments or certain parts of the embodiments of the present invention.

[0146] In some embodiments, computer-executable instructions may take the form of programs, software, software modules, scripts, or code, written in any form of programming language (including compiled or interpreted languages, or declarative or procedural languages), and may be deployed in any form, including as stand-alone programs or as modules, components, subroutines, or other units suitable for use in a computing environment.

[0147] As an example, computer-executable instructions may, but do not necessarily, correspond to files in a file system. They may be stored as part of a file that holds other programs or data, for example, in one or more scripts in a Hyper Text Markup Language (HTML) document, in a single file dedicated to the program in question, or in multiple co-located files (e.g., files that store one or more modules, subroutines, or code sections).

[0148] As an example, computer-executable instructions can be deployed to execute on a single electronic device, or on multiple electronic devices located in one location, or on multiple electronic devices distributed across multiple locations and interconnected via a communication network.

[0149] The present invention has been described in detail above with reference to specific embodiments and exemplary examples; however, these descriptions should not be construed as limiting the present invention. Those skilled in the art will understand that various equivalent substitutions, modifications, or improvements can be made to the technical solutions and embodiments of the present invention without departing from the spirit and scope of the invention, and all such modifications and improvements fall within the scope of the present invention. The scope of protection of the present invention is defined by the appended claims.

Claims

1. A method for avoiding solar interference in inter-satellite laser communication, characterized in that, include: S1, determine the current unit pointing light vector of the laser communication terminal in the J2000 coordinate system, and use it as the first unit pointing light vector; S2, obtain the solar vector in the J2000 coordinate system; S3, the unit pointing light vector when the angle between the unit pointing light vector of the laser communication terminal and the sun vector is greater than a preset angle is taken as the second unit pointing light vector; S4, determine the components of the first unit pointing light vector in the direction of the solar vector and the components in the solar vector normal plane; S5, determine the angle between the first unit pointing light vector and the solar vector based on the component of the first unit pointing light vector in the direction of the solar vector and the component in the normal plane of the solar vector, and use it as the first angle; S6, determine whether the first angle is greater than the preset angle; If the angle is greater than the preset angle, then the laser communication terminal will not perform solar overshoot avoidance. If the angle is not greater than the preset angle, the first unit pointing light vector of the laser communication terminal is rotated by a second angle along the component direction of the first unit pointing light vector on the solar vector normal plane to obtain the third unit pointing light vector. S7, determine whether the sum of the first angle and the second angle is greater than the preset angle; If the angle is greater than the preset angle, the trajectory of the component of the third unit pointing light vector on the solar vector normal plane during the process of the third unit pointing light vector moving to the second unit pointing light vector is determined, so as to serve as the trajectory of the component of the unit pointing light vector of the laser communication terminal on the solar vector normal plane. If the angle is not greater than the preset angle, the sum of the first angle and the second angle is taken as the first angle and the third unit pointing light vector is taken as the first unit pointing light vector. Then, return and execute the operation in S6 of rotating the first unit pointing light vector of the laser communication terminal along the component direction of the first unit pointing light vector on the solar vector normal plane by the second angle to obtain the third unit pointing light vector. The first unit pointing light vector is calculated according to the following formula. In the solar vector Components of direction : ； Where |·| represents the magnitude of the vector; Calculate the first unit pointing light vector using the following formula. In the solar vector Components on the normal plane : ； The angle θ between the first unit pointing light vector and the solar vector is calculated using the following formula: ； Calculate the third unit pointing light vector using the following formula. : ； Where α is the value of the second angle; The trajectory of the component of the third unit pointing light vector on the solar vector normal plane during the process of the third unit pointing light vector moving to the second unit pointing light vector is calculated using the following formula. : ； Where α is the value of the second angle; ω is the component of the second unit pointing light vector on the solar vector plane; W is the angular velocity of the third unit pointing light vector moving to the second unit pointing light vector; t is the time it takes for the third unit pointing light vector to move to the second unit pointing light vector; π is pi.

2. The inter-satellite laser communication solar interference avoidance method according to claim 1, characterized in that, Determining the current unit pointing light vector of the laser communication terminal in the J2000 coordinate system as the first unit pointing light vector includes: Calculate the first unit pointing light vector using the following formula. : ； in, Let |·| be the pointing light vector of the laser communication terminal in the J2000 coordinate system; |·| represents the magnitude of the vector. This is the transformation matrix of the local coordinate system relative to the J2000 coordinate system; T(pitch, yaw) is the transformation matrix of the laser communication terminal's reference coordinate system relative to the local satellite coordinate system; T(pitch, yaw) is the transformation matrix of the output coordinate system relative to the laser communication terminal coordinate system calculated based on the laser communication terminal's pitch angle (pitch) and azimuth angle (yaw). The output vector in the output coordinate system of the laser communication terminal is represented by T; T represents the transpose of the matrix.

3. An inter-satellite laser communication solar interference avoidance system, characterized in that, include: The first determining module is used to determine the current unit pointing light vector of the laser communication terminal in the J2000 coordinate system, and use it as the first unit pointing light vector; The acquisition module is used to acquire the solar vector in the J2000 coordinate system; The second determining module is used to take the unit pointing light vector of the laser communication terminal when the angle between the unit pointing light vector and the sun vector is greater than a preset angle as the second unit pointing light vector; The third determining module is used to determine the components of the first unit pointing light vector in the direction of the solar vector and the components in the solar vector normal plane; The fourth determining module is used to determine the angle between the first unit pointing light vector and the solar vector based on the components of the first unit pointing light vector in the direction of the solar vector and the components in the normal plane of the solar vector, so as to use it as the first angle; The first judgment module is used to determine whether the first angle is greater than the preset angle; The fifth determining module is used to determine that the laser communication terminal will not perform solar overpass avoidance if the first determining module determines that the first angle is greater than the preset angle. The vector rotation module is used to rotate the first unit pointing light vector of the laser communication terminal by a second angle along the component direction of the first unit pointing light vector on the solar vector normal plane, when the first judgment module determines that the first angle is not greater than the preset angle, to obtain the third unit pointing light vector. The second judgment module is used to determine whether the sum of the first angle and the second angle is greater than a preset angle; The sixth determining module is used to determine the trajectory of the component of the third unit pointing light vector on the solar vector normal plane during the process of the third unit pointing light vector moving to the second unit pointing light vector when the second determining module determines that the sum of the first angle and the second angle is greater than the preset angle, so as to serve as the trajectory of the component of the unit pointing light vector of the laser communication terminal on the solar vector normal plane. The seventh determining module is used to determine, when the second determining module determines that the sum of the first angle and the second angle is not greater than a preset angle, to take the sum of the first angle and the second angle as the first angle and the third unit pointing light vector as the first unit pointing light vector, and then return and execute the operation of the vector rotation module. The first unit pointing light vector is calculated according to the following formula. In the solar vector Components of direction : ； Where |·| represents the magnitude of the vector; Calculate the first unit pointing light vector using the following formula. In the solar vector Components on the normal plane : ； The angle θ between the first unit pointing light vector and the solar vector is calculated using the following formula: ； Calculate the third unit pointing light vector using the following formula. : ； Where α is the value of the second angle; The trajectory of the component of the third unit pointing light vector on the solar vector normal plane during the process of the third unit pointing light vector moving to the second unit pointing light vector is calculated using the following formula. : ； Where α is the value of the second angle; ω is the component of the second unit pointing light vector on the solar vector plane; W is the angular velocity of the third unit pointing light vector moving to the second unit pointing light vector; t is the time it takes for the third unit pointing light vector to move to the second unit pointing light vector; π is pi.

4. A computer device, characterized in that, It includes a processor and a memory; wherein, when the processor executes the computer program stored in the memory, it implements the steps of the inter-satellite laser communication solar interference avoidance method according to any one of claims 1-2.

5. A computer-readable storage medium, characterized in that, Used to store computer programs; when executed by a processor, the computer programs implement the steps of the inter-satellite laser communication solar outage avoidance method according to any one of claims 1-2.

6. A computer program product, characterized in that, It includes computer-executable instructions or computer programs, which, when executed by a processor, implement the steps of the inter-satellite laser communication solar interference avoidance method according to any one of claims 1-2.

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