Rocket-borne relay terminal and control method thereof, computer equipment, storage medium and program product

Abstract

The invention relates to the technical field of carrier rocket measurement and control, and particularly discloses a rocket-borne relay terminal and a control method thereof, computer equipment, a storage medium and a program product. The method comprises the following steps: determining relay satellites and the positions of the relay satellites in a carrier rocket body coordinate system; the relay satellites and the auxiliary phased-array antennas are paired to obtain communication links; for each communication link, determining a relative azimuth parameter between the relay satellite and the phased-array antenna, and determining the link radiation efficiency of the communication link according to the relative azimuth parameter; determining a target communication link from the communication links according to the link radiation efficiency of each communication link; and establishing communication connection between the phased-array antenna corresponding to the target communication link and the relay satellite. In the flight process of the carrier rocket, the optimal communication link between each phased-array antenna and each relay satellite can be determined and established in real time, and continuous measurement and control of the carrier rocket are realized.

Description

Technical Field

[0001] This application relates to the field of launch vehicle telemetry and control technology, and in particular to a rocket-borne relay terminal and its control method, computer equipment, storage medium, and program product. Background Technology

[0002] Typically, the launch of a carrier rocket relies heavily on the support of a telemetry and control (TT&C) system. This system acquires rocket flight trajectory data and internal telemetry data, enabling the determination of whether the rocket's flight is normal and the calculation of satellite orbit elements. Due to the limitations of ground-based and sea-based TT&C systems, space-based TT&C systems are currently commonly used. These systems deploy relay satellites in medium and high orbits to track and control targets on the ground and in the air from above.

[0003] However, when using non-geostationary orbit relay satellites for telemetry and control, the relay satellites are constantly moving relative to the ground. Different rocket launch times can lead to significant changes in the relay satellite's position relative to the launch vehicle at the same point after launch. If only one phased array antenna is used, this directional change may exceed the maximum scanning range of 120°. Furthermore, since launch delays cannot be predicted in advance, it's impossible to adjust the rocket's attitude angle before launch to accommodate these changes. This would result in the inability to establish communication between the relay satellite and the launch vehicle during flight. Summary of the Invention

[0004] Therefore, it is necessary to provide an onboard relay terminal and its control method, computer equipment, storage medium, and program product to address the above problems.

[0005] According to a first aspect of the embodiments of this application, a control method for a rocket-borne relay terminal is provided, the rocket-borne relay terminal comprising: Sub-phased array antenna; the control method for the rocket-borne relay terminal includes: Sure Each relay satellite and its position in the launch vehicle's coordinate system; right A relay satellite and Sub-phased array antennas are paired to obtain One communication link; For each of the communication links, the relative azimuth parameters between the relay satellite and the phased array antenna are determined, and the link radiation efficiency of the communication link is determined based on the relative azimuth parameters. Based on the link radiation efficiency of each of the aforementioned communication links, from Determine the target communication link from among the communication links; Establish a communication connection between the phased array antenna corresponding to the target communication link and the relay satellite; in, and Both represent positive integers greater than or equal to 1.

[0006] In one embodiment, the step of determining the position of each of the relay satellites in the launch vehicle body coordinate system includes: Obtain the position of each relay satellite in the geocentric inertial coordinate system; The positions of each relay satellite in the geocentric inertial coordinate system are converted to the positions of each relay satellite in the geocentric fixed coordinate system; The positions of each relay satellite in the geocentric fixed coordinate system are converted to the positions of each relay satellite in the launch coordinate system; The positions of each relay satellite in the launch coordinate system are converted to their positions in the launch vehicle body coordinate system.

[0007] In one embodiment, the step of determining the relative azimuth parameters between the relay satellite and the phased array antenna for each of the communication links includes: For each of the communication links, the position of the relay satellite in the coordinate system of the launch vehicle body is converted into the position of the relay satellite in the rectangular coordinate system corresponding to the phased array antenna; The position of the relay satellite in the Cartesian coordinate system corresponding to the phased array antenna is converted into the position of the relay satellite in the spherical coordinate system corresponding to the phased array antenna, so as to determine the relative azimuth parameters between the relay satellite and the phased array antenna.

[0008] In one embodiment, the step of converting the position of the relay satellite in the Cartesian coordinate system corresponding to the phased array antenna to the position of the relay satellite in the spherical coordinate system corresponding to the phased array antenna, in order to determine the relative azimuth parameters between the relay satellite and the phased array antenna, includes: Based on the position of the relay satellite in the rectangular coordinate system corresponding to the phased array antenna, determine the length of the vector from the center of the phased array antenna to the relay satellite, the direction of the projection of the vector from the center of the phased array antenna to the relay satellite onto the antenna array, and the angle between the vector from the center of the phased array antenna to the relay satellite and the antenna array.

[0009] In one embodiment, in the step of determining, based on the position of the relay satellite in the Cartesian coordinate system corresponding to the phased array antenna, the length of the vector from the center of the phased array antenna to the relay satellite, the direction of the projection of the vector from the center of the phased array antenna to the relay satellite onto the antenna array surface, and the angle between the vector from the center of the phased array antenna to the relay satellite and the antenna array surface, the relative azimuth parameters are determined using the following formula: in,( ) indicates the first One phased array antenna With the relay satellite The communication link formed by pairing Indicates communication link ( Phased array antenna From the center of the array to the relay satellite vector, Represents vector Length, Represents vector In the direction of the projection on the antenna array surface, Represents vector The angle between the antenna array and the antenna array, ( () indicates relay satellite In phased array antenna The corresponding position in the rectangular coordinate system and All are positive integers, and , .

[0010] In one embodiment, the step of determining the link radiation efficiency of the communication link based on the relative orientation parameter includes: The link radiation efficiency of the communication link is determined by the following formula: in,( ) indicates the first One phased array antenna With the relay satellite The communication link formed by pairing Indicates communication link ( Phased array antenna From the array center to the relay satellite vector, Indicates communication link ( The link radiation efficiency, Represents vector The angle between the antenna array and the antenna array. Represents vector The length.

[0011] In one embodiment, the step of determining the link radiation efficiency of each of the communication links from... The steps for determining the target communication link among multiple communication links include: from The highest value was determined among the link radiation efficiencies of each communication link; The communication link corresponding to the highest value is determined as the target communication link.

[0012] In one embodiment, the from In the step of determining the highest value among the link radiation efficiency of a communication link, the highest value is determined by the following formula: in, This represents the highest value among all link radiation efficiencies. express Corresponding communication link ( Vector in ) The angle between the antenna array and the antenna array. Indicates communication link ( Vector in ) Length, This represents the preset lower limit of the angle between the vector from the center of the phased array antenna to the relay satellite and the antenna array surface. and All are positive integers, and , .

[0013] In one embodiment, the step of establishing a communication connection between the phased array antenna corresponding to the target communication link and the relay satellite includes: Establish a connection between the digital baseband unit and the phased array antenna corresponding to the target communication link, so that the digital baseband unit can send radio frequency signals to the power divider in the corresponding phased array antenna; The relative azimuth parameters corresponding to the target communication link are sent to the beam control unit in the corresponding phased array antenna to control the beam of the corresponding phased array antenna to point to the relay satellite corresponding to the target communication link.

[0014] According to a second aspect of the embodiments of this application, a rocket-borne relay terminal is provided, including a control unit, a digital baseband unit, and... The sub-phased array antenna, each of the phased array antennas includes an antenna array surface, a transmitting component, a power divider and a beam control unit, and the digital baseband unit is connected to the power divider of each of the phased array antennas via an M-to-1 switch; The control unit is connected to the digital baseband unit, the M-to-1 switch, and the wave control unit of each phased array antenna, and is configured to execute the control method of the rocket-borne relay terminal described above.

[0015] According to a third aspect of the present application, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the above-described control method for a rocket-borne relay terminal.

[0016] According to a fourth aspect of the embodiments of this application, a computer-readable storage medium is provided, on which a computer program is stored, wherein when the computer program is executed by a processor, it implements the steps of the control method for the rocket-borne relay terminal described above.

[0017] According to a fifth aspect of the embodiments of this application, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps of the control method for the rocket-borne relay terminal described above.

[0018] The control method for the rocket-borne relay terminal provided in this application allows for the following steps during rocket flight: First, the positions of N available relay satellites are determined. Then, the N relay satellites are paired with M phased array antennas mounted on the rocket to obtain multiple communication links. Next, the relative azimuth parameters between the relay satellite and the phased array antenna in each communication link are calculated, and the link radiation efficiency of each link is calculated. The communication link with the best radiation efficiency is selected as the target communication link. Finally, a communication connection is established between the corresponding phased array antenna and the relay satellite for the target communication link. This allows for real-time determination and establishment of the optimal communication links between each phased array antenna and each relay satellite during rocket flight, enabling continuous telemetry and control of the rocket. This avoids the problem of rocket flight being unable to communicate with relay satellites (especially non-geostationary orbit relay satellites, such as medium Earth orbit relay satellites) due to launch delays or other circumstances. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of a rocket-borne relay terminal provided in one embodiment of this application; Figure 2 and Figure 3 A schematic diagram of the installation of two phased array antennas in a rocket-borne relay terminal provided in an embodiment of this application on a launch vehicle; Figure 4A flowchart illustrating a control method for a rocket-borne relay terminal provided in an embodiment of this application; Figure 5 A flowchart of step S200 in the control method of an onboard relay terminal provided in an embodiment of this application; Figure 6 A flowchart of step S400 in the control method of an onboard relay terminal provided in an embodiment of this application; Figure 7 A flowchart of step S500 in the control method of an onboard relay terminal provided in an embodiment of this application; Figure 8 This is a flowchart of step S600 in the control method of an onboard relay terminal provided in an embodiment of this application.

[0020] Explanation of reference numerals in the attached figures: 100. Launch vehicle; 200. Rocket-borne relay terminal; 210. Phased array antenna; 211. Antenna array; 212. Transmitter assembly; 213. Power divider; 214. Beam control unit; 215. M-to-1 switch; 220. Integrated processor; 221. Digital baseband unit; 222. Control unit. Detailed Implementation

[0021] To facilitate understanding of this application, a more complete description will be provided below with reference to the accompanying drawings. Preferred embodiments of this application are shown in the drawings. However, this application can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the disclosure of this application.

[0022] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0023] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0024] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the specification of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0025] Typically, rocket launches rely heavily on telemetry and control (TT&C) systems. These systems acquire rocket flight trajectory data and internal telemetry data, enabling the determination of normal rocket flight and the calculation of satellite orbital elements. Traditionally, rocket launch TT&C primarily relies on ground-based and sea-based systems. This involves deploying ground-based TT&C stations and oceanographic survey vessels across the land and sea areas covered by the rocket's flight path. However, both ground-based and sea-based TT&C systems are costly to establish, especially sea-based systems, which have long construction cycles, high costs, and cannot cover the entire flight path of the rocket.

[0026] Therefore, around 2007, China began constructing a space-based telemetry and control system. Space-based telemetry and control refers to deploying relay satellites in medium and high orbits to track and control targets on the ground and in the air. Due to their high orbits, relay satellites are farther from the launch vehicle than ground-based telemetry and control stations, resulting in a wider coverage area. When using space-based telemetry and control, a space-based telemetry and control relay terminal needs to be installed on the launch vehicle. The launch vehicle's control system communicates with the relay satellite through the relay terminal, transmitting telemetry data to the relay satellite, which then transmits it to the ground command and control center, thus providing launch vehicle launch telemetry and control support.

[0027] Due to the limited internal space of launch vehicles and the aerodynamic constraints on their surfaces, rocket-borne relay terminals typically employ phased array antennas to radiate electromagnetic waves. When relying on relay satellites for launch control and telemetry support, the relay terminal mounted on the launch vehicle needs to control the phased array antenna beam to point towards the relay satellite after liftoff to achieve uninterrupted communication. Since the scanning range of the phased array antenna is limited, generally not exceeding ±60° of the array surface normal, the installation position of the phased array antenna on the launch vehicle surface must be designed according to the launch vehicle's pre-set flight trajectory. Alternatively, the launch vehicle's attitude angle must be adjusted during flight based on the phased array antenna's installation position to ensure that the phased array antenna of the rocket-borne terminal is essentially facing the relay satellite. When relying on geostationary relay satellites at an altitude of 36,000 km to provide space-based telemetry and control support, the geostationary relay satellites are stationary relative to the ground. Therefore, during normal flight, the coordinates of the geostationary relay satellite's position relative to a point on the rocket's flight trajectory will not change, even if the launch is delayed. For example, if the relay satellite is 30° to the left and forward of a launch vehicle 300 seconds after liftoff, regardless of how much the launch is delayed, the relay satellite's orientation relative to the launch vehicle will still be 30° to the left and forward. Because the position and orientation of the geostationary relay satellite relative to the ground and the launch vehicle remain unchanged, the installation position of the phased array antenna of the launch vehicle's terminal and the attitude angle of the launch vehicle can be determined during launch vehicle manufacturing based on flight trajectory calculations. Currently, some existing patents related to space-based telemetry and control for launch vehicles are specifically designed for geostationary relay satellites.

[0028] While geostationary relay satellites offer the advantage of being relatively stationary relative to the ground, providing long-term stable coverage of the Asia-Pacific region, the limited number of available geostationary orbit slots, their strategic importance, and their already heavily occupied status make it extremely difficult for commercial spacecraft to obtain geostationary orbit slots. Therefore, in recent years, medium Earth orbit (MEO) relay satellite technology, operating at altitudes of 10,000–20,000 km, has gained increasing attention. Compared to geostationary relay satellites, MEO relay satellites have the advantage of a larger number of slots, which are easier to obtain; however, their disadvantage is that they are not stationary relative to the ground. MEO relay satellites are constantly in motion relative to the ground, meaning a single satellite can only cover the Asia-Pacific region for a short period (e.g., a few hours). However, by deploying multiple MEO relay satellites in one orbital plane and using a relay system, continuous long-term coverage of the Asia-Pacific region can be achieved.

[0029] Because medium-Earth orbit relay satellites are constantly moving relative to the ground, their position relative to the launch vehicle can change significantly at different launch times, even at the same point after launch. Assuming a medium-Earth orbit relay satellite has an altitude of approximately 11,000 km and an inclination of 0°, and its transit time over a certain area is about 3 hours (meaning it will move from southwest to southeast over that area), if a launch vehicle launches within that area, a significant delay could cause the relay satellite's position relative to the launch vehicle's flight path to reverse dramatically. With only one phased array antenna, such a directional change could exceed the antenna's maximum scanning range of 120°. Furthermore, since the delay cannot be predicted in advance, it's impossible to adjust the rocket's attitude angle before launch to accommodate this change. Therefore, when using medium-Earth orbit relay satellite systems for space-based telemetry and control of launch vehicle launches, the configuration and workflow of the onboard terminal need to be improved to ensure successful launch telemetry and control, especially considering launch delay scenarios.

[0030] To address the aforementioned issues, this application provides an onboard relay terminal and its control method, a computer device, a computer-readable storage medium, and a computer program product.

[0031] In one embodiment, a control method for an onboard relay terminal is provided. This method enables the real-time determination of the relative positions of each phased array antenna installed on the rocket and each relay satellite during rocket flight. This allows for the identification of the most suitable communication link between the phased array antenna and the relay satellite, achieving launch control and tracking of the launch vehicle. This avoids the problem of communication failures with relay satellites (especially non-geostationary orbit relay satellites, such as medium Earth orbit relay satellites) during rocket flight due to launch delays or other unforeseen circumstances.

[0032] Among them, reference Figure 1 The rocket-borne relay terminal 200 includes Sub-phased array antenna 210, The term represents a positive integer greater than or equal to 1. For example, the rocket-borne relay terminal 200 can be configured with 2, 3, or 4 phased array antennas 210. Each phased array antenna 210 is installed at a different location on the rocket. Each phased array antenna 210 includes an antenna array 211, a transmitting component 212, a power divider 213, and a beam control unit 214. The beam control unit 214 is used to convert the input beam direction angle into control signals for the phase shifters in each transmitting component 212 to control the beam pointing angle of the phased array antenna 210. The power divider 213 is used to distribute the RF signal power output from the digital baseband unit 221 to each transmitting component 212. The transmitting component 212 is used to perform signal processing such as frequency conversion, amplification, and phase shifting on the RF signal. The antenna array 211 is used to radiate the RF signal processed by the transmitting component 212 into space. The digital baseband unit 221 and the control unit 222 together constitute the integrated processor 220. The control unit 222 is used to control the orderly operation of various components of the terminal and to interact with the control terminal of the launch vehicle 100. For example, it can obtain the rocket telemetry data stream to be modulated and transmitted, as well as information such as time, position, and attitude angle, from the control terminal of the launch vehicle 100, and send terminal operating status information to the control terminal of the launch vehicle 100. The digital baseband unit 221 can be used to encode the rocket telemetry data, modulate it into a radio frequency signal, and output it to the power divider 213 of the phased array antenna 210.

[0033] The digital baseband unit 221 can be connected to the power divider 213 of each phased array antenna 210 via the M-to-1 switch 215. The control unit 222 can be electrically connected to the digital baseband unit 221, the M-to-1 switch 215, and the beam control unit 214 of each phased array antenna 210. The control method of the rocket-borne relay terminal 200 provided in this embodiment is executed by the control unit 222. The integrated processor 220, where the digital baseband unit 221 and the control unit 222 are located, can be installed inside the launch vehicle 100 compartment. Each phased array antenna 210 can be installed near the surface III control surface of an appropriate section (such as the second or third stage) of the launch vehicle 100. Each phased array antenna 210 can be connected to the integrated processor 220 via cables to form a complete rocket-borne relay terminal 200.

[0034] Reference Figure 4 The control method for the rocket-borne relay terminal 200 provided in this embodiment may include the following steps: Step S200, Confirm The positions of each relay satellite and its corresponding position in the coordinate system of the launch vehicle 100.

[0035] First, determine the multiple available relay satellites and their current positions within the coordinate system of the launch vehicle (L100). Assume that... One available relay satellite, Represents positive integers greater than or equal to 1, such as 1, 2, 3, 4, 5, or 6. These relay satellites take turns passing over the Asia-Pacific region, and at certain times, the launch vehicle 100 in flight can communicate with two or more relay satellites simultaneously.

[0036] Step S300, for A relay satellite and The sub-phased array antenna 210 is paired to obtain One communication link.

[0037] That is, to A relay satellite and The sub-phased array antenna 210 is paired one-to-one to obtain... Specifically, the first relay satellite can connect to one of the following communication links: The sub-phased array antennas 210 are paired to form M communication links, and the second relay satellite can connect with each other. The sub-phased array antennas 210 are paired to form M communication links, and so on, so that the Nth relay satellite can communicate with... The sub-phased array antennas 210 are paired to form M communication links, ultimately forming... One communication link.

[0038] It should be noted that the currently confirmed The communication links are hypothetical, meaning that the phased array antennas 210 and relay satellites corresponding to each communication link have not yet established a communication connection. After the optimal communication link is determined, the corresponding phased array antennas 210 and relay satellites will be established for the optimal communication link.

[0039] Step S400: For each communication link, determine the relative azimuth parameters between the relay satellite and the phased array antenna 210, and determine the link radiation efficiency of the communication link based on the relative azimuth parameters.

[0040] Having determined the current positions of each relay satellite in the coordinate system of the launch vehicle 100, and After establishing each communication link, the relative azimuth parameters between the relay satellite and the phased array antenna 210 can be calculated for each link, and the link radiation efficiency of that communication link can be determined based on these parameters. The link radiation efficiency can be used to characterize the communication capability of that communication link.

[0041] Step S500: Based on the link radiation efficiency of each communication link, from... The target communication link is determined from among the communication links.

[0042] Once the link radiation efficiency of each communication link is obtained, the communication link with the optimal link radiation efficiency can be determined. In this embodiment, this communication link is defined as the target communication link.

[0043] Step S600: Establish a communication connection between the phased array antenna 210 corresponding to the target communication link and the relay satellite.

[0044] Once the target communication link is determined, a communication connection can be established between the phased array antenna 210 corresponding to the target communication link and the relay satellite, which is equivalent to activating the target communication link. The launch vehicle 100 can be telemetry and control during its current flight through the target communication link.

[0045] The control method for the rocket-borne relay terminal 200 provided in this embodiment, during the flight of the launch vehicle 100, first determines the positions of N available relay satellites, then pairs the N relay satellites with M secondary phased array antennas 210 mounted on the launch vehicle 100 to obtain multiple communication links, then calculates the relative azimuth parameters between the relay satellite and the phased array antenna 210 for each communication link, and then calculates the link radiation efficiency of each communication link, and then selects the communication link with the best link radiation efficiency as the target communication link, and finally establishes a communication connection between the corresponding phased array antenna 210 and the relay satellite for the target communication link. Therefore, during the flight of the launch vehicle 100, the optimal communication link between each phased array antenna 210 and each relay satellite can be determined and established in real time, realizing continuous telemetry and control of the launch vehicle 100, and avoiding the problem of the rocket being unable to communicate with relay satellites (especially non-geostationary orbit relay satellites, such as medium Earth orbit relay satellites) during flight due to rocket launch delays or other situations.

[0046] Reference Figure 5 In one embodiment, the step of determining the position of each relay satellite in the coordinate system of the launch vehicle 100 in step S200 may include: Step S210: Obtain the position of each relay satellite in the geocentric inertial coordinate system; Step S220: Convert the position of each relay satellite in the geocentric inertial coordinate system to the position of each relay satellite in the geocentric fixed coordinate system; Step S230: Convert the position of each relay satellite in the geocentric fixed coordinate system to the position of each relay satellite in the launch coordinate system; Step S240: Convert the position of each relay satellite in the launch coordinate system to the position of each relay satellite in the launch vehicle 100 body coordinate system.

[0047] That is, the position of each relay satellite in the geocentric inertial coordinate system can be determined based on the orbital elements of each relay satellite. Through continuous rotation transformation, the position of each relay satellite in the geocentric inertial coordinate system is successively converted into the position of each relay satellite in the geocentric fixed coordinate system. Then, the position of each relay satellite in the geocentric fixed coordinate system is converted into the position of each relay satellite in the launch coordinate system. Finally, the position of each relay satellite in the launch coordinate system is converted into the position of each relay satellite in the coordinate system of the launch vehicle 100.

[0048] Considering the accuracy and algorithm complexity of orbit prediction recursion, steps S210 to S230 can also be executed by the ground command and control center. That is, before the launch vehicle 100 takes off, the calculated positions of each relay satellite in the launch coordinate system can be directly transmitted to the control unit 222 of the rocket-borne relay terminal 200. The control unit 222 only needs to convert the positions of each relay satellite in the launch coordinate system into the positions of each relay satellite in the launch vehicle body coordinate system based on the position, attitude and other information of the launch vehicle 100 at the current moment.

[0049] Reference Figure 6 In one embodiment, step S400, namely the step of determining the relative azimuth parameters between the relay satellite and the phased array antenna 210 for each of the communication links, may include: Step S410: For each communication link, convert the position of the relay satellite in the coordinate system of the launch vehicle 100 body to the position of the relay satellite in the rectangular coordinate system corresponding to the phased array antenna 210; Step S420: Convert the position of the relay satellite in the rectangular coordinate system corresponding to the phased array antenna 210 into the position of the relay satellite in the spherical coordinate system corresponding to the phased array antenna 210, so as to determine the relative azimuth parameters between the relay satellite and the phased array antenna 210.

[0050] That is, for each communication link, the position of the relay satellite corresponding to each communication link in the coordinate system of the launch vehicle 100 can be converted into the position in the rectangular coordinate system corresponding to the phased array antenna 210 based on the installation position and tilt angle of the phased array antenna 210 in the coordinate system of the launch vehicle 100. Then, the position of the relay satellite in the rectangular coordinate system corresponding to the phased array antenna 210 can be converted into the position of the relay satellite in the spherical coordinate system corresponding to the phased array antenna 210. Thus, the relative azimuth parameters between the relay satellite and the phased array antenna 210 in each communication link can be obtained.

[0051] Specifically, in the spherical coordinate system corresponding to the phased array antenna 210, the relative orientation parameters between the relay satellite and the phased array antenna 210 may include: in the rectangular coordinate system corresponding to the phased array antenna 210, the length of the vector from the center of the phased array antenna 210 to the relay satellite, the direction of the projection of the vector from the center of the phased array antenna 210 to the relay satellite onto the antenna array 211, and the angle between the vector from the center of the phased array antenna 210 to the relay satellite and the antenna array 211.

[0052] In one embodiment, in step S420, each of the relative orientation parameters can be determined using the following formula: in,( ) indicates the first 210 phased array antennas With the relay satellite The communication link formed by pairing Indicates communication link ( ) Phased array antenna 210 From the array center to the relay satellite vector, Represents vector The length of the phased array antenna 210 With relay satellite The distance between them Represents vector The direction in which the projection is located on antenna array 211 ( O i Y i Towards O i X i Rotation in the axial direction is positive. 0～360 °), which is the azimuth angle. Represents vector The angle between the antenna array 211 and the antenna array 211 (angle of the antenna array 211 towards the antenna array 211) O i Z i Direction rotation is positive), that is, pitch angle, ( () indicates relay satellite In phased array antenna 210 The corresponding position in the rectangular coordinate system and All are positive integers, and , .in, It needs to be combined ( The sign of the symbol is used to determine the quadrant and make corrections.

[0053] In one embodiment, the step of determining the link radiation efficiency of the communication link based on the relative orientation parameter in step S400 may include: determining the link radiation efficiency of the communication link by the following formula: in,( ) indicates the first 210 phased array antennas With the relay satellite The communication link formed by pairing Indicates communication link ( ) Phased array antenna 210 From the array center to the relay satellite vector, Indicates communication link ( The link radiation efficiency, Represents vector The angle between the antenna array 211 and the antenna array 211 Represents vector The length.

[0054] Reference Figure 7 In one embodiment, step S500 is to determine the link radiation efficiency of each of the communication links from... The steps for determining the target communication link among multiple communication links may include: Step S510, from The highest value was determined among the link radiation efficiencies of each communication link; Step S520: Determine the communication link corresponding to the highest value as the target communication link.

[0055] Generally, the highest link radiation efficiency among all communication links can be determined, and this link with the highest efficiency is selected as the target communication link. Of course, in addition to ensuring the highest link radiation efficiency, other conditions can be set simultaneously, such as an elevation angle greater than a certain angle. Only when both the highest link radiation efficiency and the required elevation angle are met can the communication link be considered to have optimal communication capability and be designated as the target communication link.

[0056] In one embodiment, step S510, i.e., the process from... In the step of determining the highest value of the link radiation efficiency among a communication link, the highest value can be determined by the following formula: in, This represents the highest value among all link radiation efficiencies. express Corresponding communication link ( Vector in ) The angle between the antenna array 211 and the antenna array 211 Indicates communication link ( Vector in ) Length, This represents the preset lower limit of the angle between the vector from the center of the phased array antenna 210 to the relay satellite and the antenna array 211. It is a minimum elevation angle limit preset based on the maximum off-axis scanning angle designed for the phased array antenna 210. The minimum elevation angle and the maximum off-axis scanning angle are complementary at 90°. Generally, the scanning range of the phased array antenna 210 is ±60°. At this point, the scanning range can be... Set to 30°. and All are positive integers, and , .

[0057] Reference Figure 8 In one embodiment, step S600, namely the step of establishing a communication connection between the phased array antenna 210 corresponding to the target communication link and the relay satellite, may include: Step S610: Establish a connection between the digital baseband unit 221 and the phased array antenna 210 corresponding to the target communication link, so that the digital baseband unit 221 sends radio frequency signals to the power divider 213 in the corresponding phased array antenna 210; Step S620: Send the relative azimuth parameters corresponding to the target communication link to the beam control unit 214 in the corresponding phased array antenna 210 to control the beam of the corresponding phased array antenna 210 to point to the relay satellite corresponding to the target communication link.

[0058] Specifically, the control unit 222 can control the switching direction of the M-selector switch 215 to connect the phased array antenna 210 corresponding to the target communication link to the digital baseband unit 221. The radio frequency signal output by the digital baseband unit 221 can be transmitted to the power divider 213 in the phased array antenna 210 corresponding to the target communication link. At the same time, the control unit 222 can transmit the relative azimuth parameters (azimuth and elevation angles) corresponding to the target communication link to the beam control unit 214 in the phased array antenna 210 corresponding to the target communication link, so as to control the beam of the corresponding phased array antenna 210 to point to the relay satellite corresponding to the target communication link, thereby realizing the relay transmission of telemetry data of the launch vehicle 100.

[0059] Based on the same inventive concept, and referring to Figure 1In one embodiment, a rocket-borne relay terminal 200 is also provided, including a control unit 222, a digital baseband unit 221, and... Sub-phased array antenna 210, each of the phased array antennas 210 includes an antenna array 211, a transmitting component 212, a power divider 213 and a beam control unit 214, and the digital baseband unit 221 is connected to the power divider 213 of each of the phased array antennas 210 via an M-to-1 switch 215. The control unit 222 is connected to the digital baseband unit 221, the M-to-1 switch 215 and the wave control unit 214 of each phased array antenna 210, and is configured to execute the control method of the rocket-borne relay terminal 200 described above.

[0060] The installation method of the phased array antenna 210 is described below, taking M=2 as an example: Figure 2 and Figure 3 This is a schematic diagram showing the installation of two phased array antennas 210 from the rocket-borne relay terminal 200 on the launch vehicle 100 (due to the significant size difference between the launch vehicle 100 and the phased array antenna 210, the dimensions of the rocket-borne relay terminal 200 and the rocket are not drawn to scale for ease of explanation). In the front view, the black rectangle represents the phased array antenna 210, and the gray area represents the outer surface of the launch vehicle 100. O b For the launch vehicle's center of mass of 100, O b X b To pass through the axis of launch vehicle 100 in a straight line, O b ’ yes O b X b The intersection of the axis and the mounting plane of the phased array antenna 210, and the angular spacing between the two phased array antennas 210 on the cross-section of the launch vehicle 100 are as follows. α The angle is typically set to 120°. This allows the maximum scanning range of the two phased array antennas 210 to seamlessly cover a 240° interval along the cross-sectional direction of the launch vehicle 100, meeting the requirements of medium-Earth orbit relay satellites for launch vehicle 100 launch telemetry and control. The two phased array antennas 210 also differ in their installation angle, with some tilting outwards and others inwards. This is primarily because the launch vehicle 100's trajectory may not be perpendicular to the medium-Earth orbit relay satellite's orbit; this is a targeted measure taken to achieve wider coverage.

[0061] For details regarding the components of the rocket-borne relay terminal 200, please refer to the specific description in the control method of the rocket-borne relay terminal 200 provided in the foregoing embodiments, which will not be repeated here.

[0062] Based on the same inventive concept, in one embodiment, a computer device is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the control method of the rocket-borne relay terminal 200 described above.

[0063] The computer device includes a processor, memory, and a network interface connected via a system bus. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The database stores various types of data related to the control method of the rocket-borne relay terminal 200. The network interface communicates with external terminals via a network connection. When the computer program is executed by the processor, it implements a control method for the rocket-borne relay terminal 200.

[0064] Based on the same inventive concept, in one embodiment, a computer-readable storage medium is also provided, on which a computer program is stored, which, when executed by a processor, implements the steps of the control method of the above-described rocket-borne relay terminal 200.

[0065] Based on the same inventive concept, in one embodiment, a computer program product is also provided, including a computer program that, when executed by a processor, implements the steps of the control method of the above-described rocket-borne relay terminal 200.

[0066] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments described above. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0067] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0068] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A control method for a rocket-borne relay terminal, characterized in that, The rocket-borne relay terminal includes Sub-phased array antenna; The control method for the rocket-borne relay terminal includes: Sure Each relay satellite and its position in the launch vehicle's coordinate system; right A relay satellite and Sub-phased array antennas are paired to obtain One communication link; For each of the communication links, the relative azimuth parameters between the relay satellite and the phased array antenna are determined, and the link radiation efficiency of the communication link is determined based on the relative azimuth parameters. Based on the link radiation efficiency of each of the aforementioned communication links, from Determine the target communication link from among the communication links; Establish a communication connection between the phased array antenna corresponding to the target communication link and the relay satellite; in, and Both represent positive integers greater than or equal to 1.

2. The control method for the rocket-borne relay terminal according to claim 1, characterized in that, The step of determining the position of each relay satellite in the coordinate system of the launch vehicle includes: Obtain the position of each relay satellite in the geocentric inertial coordinate system; The positions of each relay satellite in the geocentric inertial coordinate system are converted to the positions of each relay satellite in the geocentric fixed coordinate system; The positions of each relay satellite in the geocentric fixed coordinate system are converted to the positions of each relay satellite in the launch coordinate system; The positions of each relay satellite in the launch coordinate system are converted to their positions in the launch vehicle body coordinate system.

3. The control method for the rocket-borne relay terminal according to claim 1, characterized in that, The step of determining the relative azimuth parameters between the relay satellite and the phased array antenna for each of the communication links includes: For each of the communication links, the position of the relay satellite in the coordinate system of the launch vehicle body is converted into the position of the relay satellite in the rectangular coordinate system corresponding to the phased array antenna; The position of the relay satellite in the Cartesian coordinate system corresponding to the phased array antenna is converted into the position of the relay satellite in the spherical coordinate system corresponding to the phased array antenna, so as to determine the relative azimuth parameters between the relay satellite and the phased array antenna.

4. The control method for the rocket-borne relay terminal according to claim 3, characterized in that, The step of converting the position of the relay satellite in the Cartesian coordinate system corresponding to the phased array antenna into the position of the relay satellite in the spherical coordinate system corresponding to the phased array antenna, in order to determine the relative azimuth parameters between the relay satellite and the phased array antenna, includes: Based on the position of the relay satellite in the rectangular coordinate system corresponding to the phased array antenna, determine the length of the vector from the center of the phased array antenna to the relay satellite, the direction of the projection of the vector from the center of the phased array antenna to the relay satellite onto the antenna array, and the angle between the vector from the center of the phased array antenna to the relay satellite and the antenna array.

5. The control method for the rocket-borne relay terminal according to claim 4, characterized in that, In the step of determining, based on the position of the relay satellite in the rectangular coordinate system corresponding to the phased array antenna, the length of the vector from the center of the phased array antenna to the relay satellite, the direction of the projection of the vector from the center of the phased array antenna to the relay satellite onto the antenna array surface, and the angle between the vector from the center of the phased array antenna to the relay satellite and the antenna array surface, the following formula is used to determine each of the relative azimuth parameters: in,( ) indicates the first One phased array antenna With the relay satellite The communication link formed by pairing Indicates communication link ( Phased array antenna From the array center to the relay satellite vector, Represents vector Length, Represents vector In the direction of the projection on the antenna array surface, Represents vector The angle between the antenna array and the antenna array, ( () indicates relay satellite In phased array antenna The corresponding position in the rectangular coordinate system and All are positive integers, and , .

6. The control method for the rocket-borne relay terminal according to claim 4, characterized in that, The step of determining the link radiation efficiency of the communication link based on the relative azimuth parameter includes: The link radiation efficiency of the communication link is determined by the following formula: in,( ) indicates the first One phased array antenna With the relay satellite The communication link formed by pairing Indicates communication link ( Phased array antenna From the array center to the relay satellite vector, Indicates communication link ( The link radiation efficiency, Represents vector The angle between the antenna array and the antenna array. Represents vector The length.

7. The control method for the rocket-borne relay terminal according to claim 6, characterized in that, The method is based on the link radiation efficiency of each of the communication links, from The steps for determining the target communication link among multiple communication links include: from The highest value was determined among the link radiation efficiencies of each communication link; The communication link corresponding to the highest value is determined as the target communication link.

8. The control method for the rocket-borne relay terminal according to claim 7, characterized in that, In the from In the step of determining the highest value among the link radiation efficiency of a communication link, the highest value is determined by the following formula: in, This represents the highest value among all link radiation efficiencies. express Corresponding communication link ( Vector in ) The angle between the antenna array and the antenna array. Indicates communication link ( Vector in ) Length, This represents the preset lower limit of the angle between the vector from the center of the phased array antenna to the relay satellite and the antenna array surface. and All are positive integers, and , .

9. The control method for the rocket-borne relay terminal according to claim 1, characterized in that, The step of establishing a communication connection between the phased array antenna corresponding to the target communication link and the relay satellite includes: Establish a connection between the digital baseband unit and the phased array antenna corresponding to the target communication link, so that the digital baseband unit can send radio frequency signals to the power divider in the corresponding phased array antenna; The relative azimuth parameters corresponding to the target communication link are sent to the beam control unit in the corresponding phased array antenna to control the beam of the corresponding phased array antenna to point to the relay satellite corresponding to the target communication link.

10. A rocket-borne relay terminal, characterized in that, Including control unit, digital baseband unit and The sub-phased array antenna, each of the phased array antennas includes an antenna array surface, a transmitting component, a power divider and a beam control unit, and the digital baseband unit is connected to the power divider of each of the phased array antennas via an M-to-1 switch; The control unit is connected to the digital baseband unit, the M-to-1 switch, and the wave control unit of each of the phased array antennas, and is configured to execute the control method of the rocket-borne relay terminal as described in any one of claims 1-9.

11. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the control method for the rocket-borne relay terminal as described in any one of claims 1-9.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the control method for the rocket-borne relay terminal as described in any one of claims 1-9.

13. A computer program product, comprising a computer program, characterized in that, When executed by a processor, the computer program implements the steps of the control method for the rocket-borne relay terminal as described in any one of claims 1-9.

Images