Observation constellation configuration control method and device based on maximum allowable drift domain
By calculating the maximum allowable drift domain of the target constellation and determining the first and second maximum allowable drift amounts, the problems of large computational load and low accuracy in the prior art are solved, and more efficient constellation configuration control is achieved.
Patent Information
- Application Number
- CN202511874309.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-12
- Publication Date
- 2026-02-27
AI Technical Summary
Existing constellation configuration control methods involve large computational loads and low accuracy when calculating the maximum allowable drift, resulting in poor configuration control performance, especially when computing power is limited.
The maximum allowable drift domain is calculated using the critical equivalent field of view of the target constellation, and the first and second maximum allowable drift amounts are determined to reduce the computational load and improve accuracy.
With the same computing power, the accuracy of the maximum allowable drift was improved, the configuration control effect of the constellation was enhanced, and the computing cost was reduced.
Smart Images
Figure CN121573210A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the field of space navigation technology, and in particular to a method and device for controlling the configuration of an observation constellation based on a maximum allowable drift domain. BACKGROUND
[0002] With the increasing demand for space exploration and the improvement of constellation networking technology, it is essential to use a target constellation to observe celestial bodies (such as the Earth, the Moon, etc.) in space for a long time to obtain information. In order to continuously obtain accurate observation data, the target constellation must maintain a stable constellation configuration during long-term observation. Therefore, when the constellation configuration of the target constellation deviates, a configuration control method is needed to control the configuration of the target constellation.
[0003] In the prior art, the constellation configuration control method often uses the maximum allowable drift amount to control the configuration of the target constellation. However, since the existing configuration control method requires a large amount of calculation when calculating the maximum allowable drift amount, the accuracy of the maximum allowable drift amount calculated under limited computing power is low, which further reduces the configuration control effect of the constellation configuration control method based on the maximum allowable drift amount. SUMMARY
[0004] The present application proposes a method and device for controlling the configuration of an observation constellation based on a maximum allowable drift domain. The maximum allowable drift domain of the target constellation is calculated using the critical equivalent field of view of the target constellation, and the first maximum allowable drift amount and the second maximum allowable drift amount of the target constellation are determined from the maximum allowable drift domain. The configuration of the target constellation is then controlled according to the first maximum allowable drift amount and the second maximum allowable drift amount, reducing the amount of calculation required to determine the maximum allowable drift amount, thereby improving the accuracy of the maximum allowable drift amount under the same computing power, and further improving the configuration control effect of the target constellation. In order to achieve the above purpose, the present application adopts the following technical solutions: In a first aspect, the present application provides a method for controlling the configuration of an observation constellation based on a maximum allowable drift domain, wherein the target constellation moves around a central celestial body to perform an observation task on the central celestial body, and the method comprises: determining the maximum allowable drift domain of the target constellation based on a critical equivalent field of view of the target constellation; wherein the critical equivalent field of view of the target constellation is an equivalent field of view in which the target constellation can just continuously observe the central celestial body; the maximum allowable drift domain of the target constellation is a drift range of the target constellation relative to a nominal orbit of the target constellation corresponding to the critical equivalent field of view of the target constellation; determining a first maximum allowable drift amount in a phase direction and a second maximum allowable drift amount in a right ascension of ascending node direction of the target constellation based on the maximum allowable drift domain of the target constellation; and performing configuration control on the target constellation when any satellite in the target constellation drifts in the phase direction by an amount greater than or equal to the first maximum allowable drift amount and / or drifts in the right ascension of ascending node direction by an amount greater than or equal to the second maximum allowable drift amount.
[0005] In the method for controlling the configuration of an observation constellation based on a maximum allowable drift domain provided by the present application, the maximum allowable drift domain of the observation satellite is calculated according to the critical equivalent field of view determined by the observation task of the target constellation; and then the first maximum allowable drift amount in the phase direction and the second maximum allowable drift amount in the right ascension of ascending node direction of the target constellation are determined from the maximum allowable drift domain of the observation satellite. Therefore, for any satellite in the target constellation, the first maximum allowable drift amount and the second maximum allowable drift amount can be used to judge the drift amount, and the configuration control of the target constellation is performed based on the judgment result. In the above process, the first maximum allowable drift amount and the second maximum allowable drift amount can be directly determined based on the maximum allowable drift domain, which reduces the calculation amount required for determining the maximum allowable drift amount, thereby improving the accuracy of the maximum allowable drift amount under the same computing power, and further improving the configuration control effect of the target constellation.
[0006] In a second aspect, the present application provides a device for controlling configuration of an observation constellation based on a maximum allowable drift domain, the target constellation moving around a central celestial body to perform an observation task on the central celestial body, the device comprising a drift domain determining module, a drift amount determining module and a configuration control module. The drift domain determining module is configured to determine a maximum allowable drift domain of the target constellation based on a critical equivalent field of view of the target constellation, wherein the critical equivalent field of view of the target constellation is an equivalent field of view in which the target constellation can just realize continuous observation on the central celestial body, and the maximum allowable drift domain of the target constellation is a drift range of the target constellation relative to a nominal orbit of the target constellation corresponding to the critical equivalent field of view of the target constellation. The drift amount determining module is configured to determine a first maximum allowable drift amount of the target constellation in a phase direction and a second maximum allowable drift amount of the target constellation in a right ascension of ascending node direction according to the maximum allowable drift domain of the target constellation. The configuration control module is configured to control configuration of the target constellation when a drift amount of any satellite in the target constellation in the phase direction is greater than or equal to the first maximum allowable drift amount and / or a drift amount of the satellite in the right ascension of ascending node direction is greater than or equal to the second maximum allowable drift amount.
[0007] In an implementation form of the first aspect and the second aspect, the maximum allowable drift domain of the target constellation satisfies the following formula: wherein, represents a geocentric angle corresponding to the maximum allowable drift domain; represents a radius of the central celestial body; represents an orbital height of the target constellation, the target constellation being a same-orbital-height constellation; represents a critical equivalent field of view half-angle of a satellite in the target constellation; represents an original field of view half-angle of the satellite in the target constellation, the on-board equipment carried on each satellite in the target constellation being the same.
[0008] In an implementation form of the first aspect and the second aspect, the first maximum allowable drift amount satisfies the following formula: wherein, represents a phase, represents the first maximum allowable drift amount, represents an orbital height of the target constellation, represents a radius of the central celestial body, represents an original field of view half-angle of a satellite in the target constellation, represents a critical equivalent field of view half-angle of the satellite in the target constellation, represents a clipping ratio of the first maximum allowable drift amount, represents a right ascension of ascending node, a cut-off ratio of the second maximum allowable drift amount, a value of the cut-off ratio of the first maximum allowable drift amount is set according to an observation task of the target constellation. a value of the cut-off ratio of the second maximum allowable drift amount is set according to an observation task of the target constellation.
[0009] In an implementation form of the first aspect and the second aspect, the second maximum allowable drift amount satisfies the following formula: wherein, represents a right ascension of the ascending node, represents the second maximum allowable drift amount, represents an orbital height of the target constellation, represents a central celestial body radius, represents an original field of view half angle of a satellite in the target constellation, represents a critical equivalent field of view half angle of the satellite in the target constellation, represents a phase, represents a cut-off ratio of the first maximum allowable drift amount, represents a cut-off ratio of the second maximum allowable drift amount, a value of the cut-off ratio of the first maximum allowable drift amount is set according to an observation task of the target constellation. a value of the cut-off ratio of the second maximum allowable drift amount is set according to an observation task of the target constellation.
[0010] In a third aspect, the present application provides an electronic device, comprising a processor and a memory coupled to the processor; the memory is configured to store computer instructions, and when the electronic device is running, the processor executes the computer instructions stored in the memory, so that the electronic device executes the method in the first aspect or any of the implementation forms thereof.
[0011] In a fourth aspect, the present application provides a computer readable storage medium, comprising computer program instructions, when the computer program instructions are executed by a computer, the computer executes the method in the first aspect or any of the implementation forms thereof.
[0012] In a fifth aspect, the present application provides a computer program product, comprising computer program instructions, when the computer program instructions are executed on a computer, the computer executes the method in the first aspect or any of the implementation forms thereof.
[0013] The technical effects of the second aspect to the fifth aspect and the possible implementation forms thereof can refer to the description of the technical effects of the first aspect and the possible implementation forms thereof, which will not be described here. BRIEF DESCRIPTION OF DRAWINGS
[0014] Figure 1 is a schematic diagram of an observation constellation configuration control method based on a maximum allowable drift domain provided by the embodiments of the present application; Figure 2 This is a schematic diagram showing the change in the field of view of any satellite in the target constellation at a certain moment as it drifts from position A to position B in any direction at a certain moment, as provided in the embodiments of this application. Figure 3 This is a schematic diagram illustrating the change in coverage zone after any satellite in the target constellation drifts positively or negatively along the right ascension direction of the ascending node, as provided in the embodiments of this application. Figure 4 This is a schematic diagram illustrating the change in coverage area after any satellite in the target constellation drifts in any direction, as provided in the embodiments of this application. Figure 5 This is a schematic diagram illustrating the variation trend of the first maximum permissible drift with the critical equivalent field of view for any satellite in the Walker constellation provided in this application embodiment under different phase / ascending node right ascension drift ratios. Figure 6 This is a schematic diagram illustrating the variation trend of the second maximum permissible drift with the critical equivalent field of view for any satellite in the Walker constellation provided in this application embodiment under different phase / ascending node right ascension drift ratios. Figure 7 This is a schematic diagram of the structure of an observation constellation configuration control device based on the maximum allowable drift domain provided in an embodiment of this application. Detailed Implementation
[0015] In the specification and claims of this invention, the terms "first" and "second," etc., are used to distinguish different objects, rather than to describe a specific order of objects. For example, a first maximum permissible drift amount and a second maximum permissible drift amount.
[0016] In the embodiments of this application, "and / or" indicates a relationship between objects. For example, A and / or B can represent the following three situations: A exists alone, B exists alone, and A and B exist simultaneously.
[0017] In the embodiments of this application, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design that is described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design. Specifically, the use of the terms "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.
[0018] In the description of this invention, unless otherwise stated, "a plurality of" means two or more. For example, a plurality of satellites means two or more satellites.
[0019] The method and device provided by the embodiment of the present application relate to space navigation, and can control the configuration of a target constellation during long-term observation of a central celestial body (such as the Earth, the Moon, etc.) by the target constellation, so that the target constellation can continuously obtain accurate observation data.
[0020] It can be understood that, in the long-term operation of the constellation, the satellites in the constellation are affected by perturbation forces (for example, the non-spherical gravity of the Earth, atmospheric resistance, the three-body gravity of the Sun and the Moon, etc.) in space, causing the orbital elements such as the orbital phase and the right ascension of the ascending node of the satellites in the constellation to gradually deviate from the nominal orbit of the satellites and further causing the constellation configuration to gradually diverge. Since the long-term coverage capability of the constellation depends on the effect of long-term stability of the constellation configuration, the divergence of the constellation configuration due to perturbation will reduce the coverage performance of the constellation. Therefore, accurately setting the drift tolerance, that is, the maximum allowable drift amount, of the constellation in the long-term operation becomes a key problem in maintaining the constellation configuration in the long-term coverage task of the constellation.
[0021] However, in the process of determining the maximum allowable drift amount, if the maximum allowable drift amount is determined based on experience and assumptions, the existing constellation configuration control method cannot control the cost of constellation configuration control to be the lowest while ensuring the coverage performance of the constellation. At the same time, the traditional maximum allowable drift amount calculation method is usually as follows: for each satellite in the constellation, the phase and right ascension of the ascending node drift amount are traversed according to a certain step size, so as to calculate and compare the observation performance of the constellation under each set of drift amount, until a suitable phase and right ascension of the ascending node drift amount is traversed, which is taken as the maximum allowable drift amount. With the increase of the scale of the constellation, the amount of calculation increases exponentially. In the case of limited computing power, the accuracy of the calculated maximum allowable drift amount is low, and further the configuration control effect of the constellation configuration control method based on the maximum allowable drift amount is poor.
[0022] In order to solve the problem in the background art that the existing configuration control method has a large amount of calculation when calculating the maximum allowable drift amount, and in the case of limited computing power, the accuracy of the calculated maximum allowable drift amount is low, and further the configuration control effect of the constellation configuration control method based on the maximum allowable drift amount is poor, the embodiment of the present application provides an observation constellation configuration control method and device based on a maximum allowable drift domain, which calculates the maximum allowable drift domain of the target constellation by using the critical equivalent field of view of the target constellation, and determines the first maximum allowable drift amount and the second maximum allowable drift amount of the target constellation from the maximum allowable drift domain, and then controls the configuration of the target constellation according to the first maximum allowable drift amount and the second maximum allowable drift amount, thereby reducing the amount of calculation required for determining the maximum allowable drift amount, and thereby improving the accuracy of the maximum allowable drift amount under the same computing power, and further improving the configuration control effect of the target constellation.
[0023] Further, in order to better understand the method for controlling the configuration of the observation constellation based on the maximum allowable drift domain, the following takes the Earth as the central celestial body and the target constellation as the target constellation on the Earth for example to explain the critical equivalent field of view of the target constellation.
[0024] As is well known in the art, the field of view (FOV) of a satellite refers to the range of the ground area that can be observed by the satellite at a certain moment. The FOV of a satellite can be conical or rectangular. In the embodiments of the present application, the FOV of a satellite refers to the observation field of view of the satellite observation payload sensor, which determines the ground surface area that can be observed by the satellite at a given altitude. In the embodiments of the present application, the FOV of the satellite observation payload sensor is conical. The effective field of view (EFOV) of a satellite refers to the range of the original FOV of the satellite at each position after the satellite drifts from the nominal orbit position in all directions, i.e., the "intersection" of the original FOV at each position after the drift.
[0025] In the embodiments of the present application, the target constellation is a same-orbit-height constellation (i.e., the orbit heights of the satellites in the target constellation are the same) and the satellite-borne devices carried on each of the satellites in the target constellation are the same. Since the shape and range of the FOV of a satellite depend on the orbit height of the satellite and the type of the satellite-borne device carried on the satellite, in the case where the orbit heights are the same and the satellite-borne devices carried on the satellites are the same, the shape and range of the FOV of each of the satellites in the target constellation are the same, and thus the size of the FOV of each of the satellites in the target constellation can be considered to be the same.
[0026] In the process of performing the observation task by the target constellation, the size of the coverage range of the ground by each of the satellites in the target constellation in the process of performing the observation task is set to be the same. Therefore, in the case where the orbit heights of the satellites in the target constellation are the same, the satellite-borne devices carried on the satellites are the same, and considering the drift of each of the satellites in all directions within the same maximum allowable drift domain, the size of the EFOV of each of the satellites in the target constellation is also the same.
[0027] Therefore, it can be seen that the size of the FOV and the size of the EFOV of each of the satellites in the target constellation are the same.
[0028] On the basis of the above, the critical equivalent field of view of the target constellation is defined as an equivalent field of view in which the target constellation can just realize continuous observation of the central celestial body, and the critical equivalent field of view of the satellite is defined as an equivalent field of view of the satellite when the target constellation can just realize continuous observation of the central celestial body. Since the size of the specific observation region of each satellite in the target constellation is the same, the size of the critical equivalent field of view of each satellite in the target constellation is also the same.
[0029] For the target constellation, the critical equivalent field of view of the target constellation is composed of the critical equivalent field of view of each satellite in the target constellation, and since the size of the critical equivalent field of view of each satellite in the target constellation is the same, and continuous observation of the central celestial body by the target constellation is realized by orbit control of each satellite in the target constellation, the critical equivalent field of view of any satellite in the target constellation can be used to indicate the critical equivalent field of view of the target constellation.
[0030] Exemplarily, the observation constellation configuration control method based on the maximum allowable drift domain provided by the embodiment of the application can be executed by an electronic device with processing function, for example, the electronic device can be a computer, a server, etc. Taking the computer as an example, the hardware part of the computer can include a processor, a memory, a network interface, a user interface, a communication bus, etc.
[0031] The processor is used to control the electronic device to execute relevant processing and calculation tasks, for example, to determine the critical equivalent field of view of the target constellation, to determine the first maximum allowable drift amount and the second maximum allowable drift amount, and to perform configuration control on the target constellation, etc. The processor can include a central processing unit (CPU) or other processors, and the processor can be single-core or multi-core, for example, the processor can include multiple CPUs.
[0032] The memory is used to store computer instructions and related data, for example, to store the critical equivalent field of view of the target constellation, the maximum allowable drift domain, the first maximum allowable drift amount, and the second maximum allowable drift amount, etc. The memory can be a random access memory (RAM), a read only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, or an optical memory, a magnetic disk storage medium or other magnetic storage device, or any other medium capable of storing program codes or data accessible by a computer. Optionally, the memory can be integrated in the processor, and the memory can also be independent of the processor.
[0033] The network interface is used for the computer to communicate with other devices or communication networks, and the network interface can be a transceiver with transceiving function. Optionally, the network interface can include a standard wired interface, a wireless interface (such as a WI-FI interface, a Bluetooth interface, a 5G interface).
[0034] The communication bus is used to realize the connection communication between different components, for example, the above-mentioned processor, memory, network interface and user interface can be interconnected through the communication bus.
[0035] The user interface can include a display screen, an input unit (such as a keyboard), and optionally, the user interface can also include a standard wired interface, a wireless interface.
[0036] Those skilled in the art can understand that the above computer can also include more or fewer components, or combine certain components, or different component arrangements, which are not limited in the embodiments of the present application.
[0037] In the maximum allowable drift domain-based observation constellation configuration control method provided by the embodiments of the present application, the target constellation moves around the central celestial body to perform observation tasks on the central celestial body. Taking the central celestial body as the Earth and the target constellation as a target constellation for the Earth as an example, the above-mentioned configuration control method is introduced. As shown in the following figure, the above-mentioned configuration control method includes S101-S103. Figure 1
[0038] S101, determining the maximum allowable drift domain of the target constellation based on the critical equivalent field of view of the target constellation.
[0039] The maximum allowable drift domain of the target constellation corresponds to the critical equivalent field of view of the target constellation, and is the drift range of the target constellation relative to the nominal orbit of the target constellation. Therefore, in the embodiments of the present application, the maximum allowable drift domain of the target constellation is a two-dimensional closed curved surface centered on the nominal position of the satellite, and represents the actual motion of the constellation satellite, which is derived from the critical equivalent field of view of the target constellation.
[0040] For any satellite in the target constellation, the maximum allowable drift domain of the satellite is the drift range of the satellite relative to the nominal position on the nominal orbit of the satellite corresponding to the critical equivalent field of view of the satellite.
[0041] In the embodiments of the present application, the maximum allowable drift domain of the target constellation satisfies the following formula.
[0042] Formula (1) Wherein, represents the maximum allowable drift domain corresponding to the geocentric angle; represents the radius of the central celestial body; Indicates the orbital altitude of the target constellation; This indicates the critical equivalent field of view half-angle of the satellites within the target constellation; This represents the original field of view half-angle of the satellites within the target constellation.
[0043] In this embodiment of the application, based on the quantitative mapping relationship between the critical effective field of view (FOV) and the maximum allowable drift domain (MAD domain) of the target constellation (MAD domain - effective FOV mapping), the above formula (1) is derived by using the positional relationship of any satellite in the target constellation before and after drift. The specific derivation process of the above formula (1) is given below.
[0044] refer to Figure 2 , Figure 2 The diagram shows the change in the field of view of any satellite in the target constellation at a certain moment as it drifts from position A to position B in any direction. Figure 2 In the middle, the half-angle of the satellite's field of view is , The corresponding geocentric angle is The critical equivalent field of view half-angle of this satellite is , The corresponding geocentric angle is The geocentric angle corresponding to the maximum allowable drift range of the satellite from position A to position B is ; (That is, the angle formed by the line of sight before and after the maximum allowable drift region), the radius of the Earth (i.e., the central celestial body) is The satellite's orbital altitude at that moment was .
[0045] but Figure 2 In It satisfies the following formula (2).
[0046] Formula (2) Further solving the above formula (2) yields the following formula (3).
[0047] Formula (3) Similarly, Figure 2 In It satisfies the following formula (4).
[0048] Formula (4) Further solving the above formula (4) yields the following formula (5).
[0049] Formula (5) Substituting the above formula (3) into the above formula (5), the above formula (1) can be obtained.
[0050] The reasoning process of the quantitative mapping relationship (MAD domain - effective FOV mapping) between the critical equivalent field of view of the target constellation and the maximum allowable drift domain of the target constellation is given below.
[0051] It can be understood that, due to the influence of various perturbation forces in space (such as the non-spherical gravity of the earth, atmospheric resistance, the three-body gravity of the sun and the moon, etc.) on the satellites in the target constellation, the satellites in the target constellation deviate from their nominal orbits, and the degree of deviation of the satellites from their nominal orbits is described by the drift amount.
[0052] For the above target constellation, it is assumed that the coverage performance index of the constellation is full coverage for a specific coverage area (such as a latitude band ) on the earth, i.e. the constellation does not produce coverage gaps for the specific coverage area at any time. Taking any satellite of the target constellation as an example, if the satellite drifts in the positive and negative directions along the ascending node right ascension direction at the nominal position P point, the drift distance of the satellite in the ascending node right ascension direction is , then the coverage band (S O ) of the satellite on the earth generated by the movement of the satellite along the nominal orbit and the coverage bands (S U and S D ) after the drift are as shown in Figure 3 .
[0053] Referring to Figure 3 , the nominal orbit of the satellite at the current time is , the nominal position of the satellite at the current time is the P point, and the field of view of the satellite at the current time is F O , then in the process of the movement of the satellite along the orbit , the satellite forms a coverage band S O on the ground.
[0054] Continuing to refer to Figure 3 , if the satellite drifts in the positive direction of the ascending node right ascension by a distance to reach the position P1 point, the offset orbit of the satellite is , and the field of view of the satellite is F U ; then in the process of the movement of the satellite along the offset orbit , the coverage band of the satellite on the earth is S U . Similarly, if the satellite drifts in the negative direction of the ascending node right ascension by a distance to reach the position P2, the offset orbit of the satellite is , and the field of view of the satellite is F D ; then in the process of the movement of the satellite along the offset orbit During its movement, the satellite's coverage area over Earth is S. D . Figure 3 The above-mentioned coverage zone S U and S D The overlapping portion forms a new coverage zone S C The coverage area S C For this satellite from (- ,+ During the drift within the range, the area that is always covered by the ground (also known as the area that is inevitably covered) is the area.
[0055] Therefore, it can be seen that the change in the coverage area before and after the satellite drift formed three regions: (1) the area not covered by the satellite—corresponding to Figure 3 (1) Areas not shaded; (2) Areas that may be covered by satellite drift (called potential coverage areas) — corresponding to S U With S D (3) When the satellite drifts along the positive and negative directions of the right ascension of the ascending node. When within a certain distance, the area that can definitely be covered (hereinafter referred to as the guaranteed coverage area) — corresponds to S C Region (i.e., S) U With S D (The overlapping area). It is easy to see that as the drift along the right ascension of the ascending node increases, the width of the coverage band will gradually decrease. Therefore, the effect of satellite drift along the right ascension of the ascending node on the width of the coverage band can be equivalent to the satellite still operating along the nominal orbit, but the effective coverage band width shrinks. It is easy to see that when a satellite drifts in the phase direction, the trend of change in the satellite's coverage area is the same as when it drifts in the right ascension of the ascending node.
[0056] Furthermore, considering that a satellite may drift in any direction during its actual motion, such as... Figure 4 As shown, for any satellite within the aforementioned target constellation, it is assumed that the satellite is in its nominal orbit. The maximum distance from point P in any direction is... The drift, Figure 4 The dashed line T encloses a two-dimensional closed surface—the maximum permissible drift region of the satellite (also known as the maximum permissible drift region of the target constellation). Its boundary is defined by the maximum distance from the satellite in all directions. The position point P after the satellite drifts is depicted. When the satellite drifts within the aforementioned two-dimensional closed surface, its field of view also drifts synchronously with the satellite. Figure 4 The shaded circles enclosed by the dashed circles F1, F2, F3, and F4 in the diagram represent the field of view of the satellite as it drifts at different positions. That is, all the outer edges of the covering field of view formed by satellite drift, which can be This can be understood as the union of all fields of view generated by the satellite during its drift. The enclosed area is the boundary of all overlapping coverage fields of view formed by satellite drift, which can be understood as the intersection of the fields of view.
[0057] It is evident that when the drift direction expands to various directions, all the drifted fields of view also form a necessary coverage area (as shown by the curve). Enclosed area ), and the possible coverage area (curve) and curve Enclosed shaded area During the observation mission performed by this satellite in the target constellation, when the ground target is located within the coverage area... When the satellite is within the range, regardless of its drift at that point, the ground target remains within the satellite's field of view; when the ground target is located within the range... When the coverage area is defined as the area that may be covered, due to the uncertainty of the satellite's drift position, the point may be within the satellite's field of view or may not be within the coverage area.
[0058] Therefore, to achieve the observation mission of the target constellation, it is necessary to pay attention to the size of the inevitable coverage area formed by the satellites in the target constellation when they drift. The impact of the satellites in the constellation on the coverage area due to drift can be equivalently regarded as the coverage area being reduced to the equivalent field of view when the satellites do not drift at their nominal positions. The specific reduction rule is that the field of view of the satellites is gradually reduced to the field of view corresponding to the target constellation where the satellites are located can just complete the observation mission.
[0059] S102. Based on the maximum allowable drift range of the target constellation, determine the first maximum allowable drift in the phase direction and the second maximum allowable drift in the right ascension direction of the ascending node.
[0060] In the application embodiments, the orbits of multiple satellites within the target constellation are all near-circular orbits, and the orbital parameters of the satellites include the semi-major axis. eccentricity Track inclination Right ascension of ascending node Perigeal argument And true near point angle .
[0061] If we take Earth as the central celestial body, it is understandable that the satellites in the target constellation are mainly affected by various perturbations such as Earth's oblateness J2 term and atmospheric drag. These perturbations cause the satellites in the target constellation to deviate from their nominal orbits, which in turn leads to changes in the configuration of the target constellation, making it impossible for the target constellation to complete its observation mission.
[0062] In the process of the above-mentioned perturbation force affecting the target constellation satellite deviating from its nominal orbit, the Earth oblateness J2 term causes the satellite to drift in the ascending node right ascension direction, the argument of perigee direction and the true anomaly direction; under the action of the Earth non-spherical gravitational perturbation J2 term, the satellite drifts in the ascending node right ascension direction at an average drift speed satisfying: wherein is the Earth gravitational constant, and does not cause long-term drift under the Earth non-spherical gravitational perturbation J2 term.
[0063] The atmospheric drag causes the satellite to drift in the semi-major axis direction, the drift in the semi-major axis direction causes the phase deviation of the satellite satisfying: , is the orbit semi-major axis variation rate.
[0064] From the above, it can be seen that the two factors that have a long-term impact on the above-mentioned spatial geometric configuration of the target constellation are mainly the drift of the satellite in the ascending node right ascension direction and the drift in the phase direction within the target constellation. Therefore, the first maximum allowable drift amount in the phase direction and the second maximum allowable drift amount in the ascending node right ascension direction of the target constellation can be obtained from the maximum allowable drift domain of the target constellation, and the configuration control of the target constellation can be realized through the first maximum allowable drift amount and the second maximum allowable drift amount.
[0065] Considering that the maximum allowable drift amount is usually represented in the phase-ascending node right ascension direction in the target constellation configuration maintenance task, after obtaining the geocentric angle ( representing the maximum allowable drift domain) corresponding to the maximum allowable drift domain by the above-mentioned S101, the intercepting ratio of the first maximum allowable drift amount and the intercepting ratio of the second maximum allowable drift amount can be set (the intercepting ratios and can be set based on the drift of the target constellation in the ascending node right ascension direction and the phase direction after being affected by the perturbation force, or can be specified according to the satellite orbit control requirement). And the first maximum allowable drift amount and the second maximum allowable drift amount are obtained by intercepting in the inscribed manner from the maximum allowable drift domain according to the intercepting ratio of the first maximum allowable drift amount and the intercepting ratio of the second maximum allowable drift amount. wherein the drift amount is used to indicate the degree of deviation of the target constellation from the nominal position of the target constellation. Thus, the embodiments of the present application can adopt different interception ratios to intercept a plurality of first maximum allowable drift amounts and second maximum allowable drift amounts from the maximum allowable drift domain, so as to adapt to the configuration control of the target constellation after being subjected to different perturbation forces in different space environments or different constellation control requirements.
[0066] In an implementation manner, the first maximum allowable drift amount satisfies the following formula (6).
[0067] Formula (6) The second maximum allowable drift amount satisfies the following formula (7).
[0068] Formula (7) wherein, denotes the phase, denotes the first maximum allowable drift amount, denotes the orbital height of the target constellation, denotes the central celestial body radius, denotes the original field of view half angle of the satellite in the target constellation, denotes the critical equivalent field of view half angle of the satellite in the target constellation, denotes the interception ratio of the first maximum allowable drift amount, denotes the ascending node right ascension, denotes the interception ratio of the second maximum allowable drift amount, and are set according to the observation task of the target constellation; denotes the second maximum allowable drift amount.
[0069] The derivation process of the above formula (6) and formula (7) is described in detail as follows.
[0070] The interception ratio of the first maximum allowable drift amount is set as and the interception ratio of the second maximum allowable drift amount is set as satisfies: , .
[0071] The central angle of the earth corresponding to the maximum allowable drift domain , the ground circular arc corresponding to the central angle of the earth, and the drift angle of the phase direction intercepted from the maximum allowable drift domain by the geometric interception method corresponds to the ground circular arc (corresponding to the central angle of the earth corresponding to the maximum allowable drift domain ) and the drift angle of the ascending node right ascension direction corresponds to the ground circular arc (corresponding to the maximum allowable drift domain The following formula (8) is satisfied.
[0072] Formula (8) Solving the above formula (8) can obtain the following formula (9) and the following formula (10).
[0073] Formula (9) Formula (10) The above formula (9) and the above formula (10) are associated with the above formula (1) respectively, and the above formula (6) and the following formula (7) can be obtained.
[0074] S103, for any satellite in the target constellation, when the drift amount of the satellite in the phase direction is greater than or equal to the first maximum allowable drift amount, and / or the drift amount of the satellite in the ascending node right ascension direction is greater than or equal to the second maximum allowable drift amount, the target constellation is configured and controlled.
[0075] Specifically, in the process of configuring and controlling the target constellation, the orbit correction method is used to adjust the motion state of the satellite in the target constellation whose drift amount exceeds the maximum allowable drift amount, so that the satellite returns to the nominal position of the satellite, thereby maintaining the configuration of the target constellation. Alternatively, the braking method can be a chemical propulsion method, or an electric propulsion method, and the adjustment method of the satellite motion state in the target constellation is not limited in the embodiments of the present application.
[0076] Further, in order to verify the correctness and effectiveness of the constellation configuration control method provided by the embodiments of the present application, a simulation scene including constellation satellites and a target area is constructed to verify the method. The method can be applied to any constellation configuration and any orbit height of the earth observation constellation, so a Walker constellation of 108 / 12 / 0 is constructed, and the simulation time is 1 day. The configuration parameters and coverage parameters of the Walker constellation are shown in Table 1 below.
[0077] Table 1 Constellation parameter settings of simulation scene
[0078] In the simulation process, when the initial field of view angle of the satellite in the Walker constellation is the equivalent field of view angle reaching the minimum one-time coverage of the target area in one day is The maximum drift geocentric angle of the satellite is calculated to be When different phase / ascending node right ascension drift ratios are taken, the maximum drift angles of the phase and the ascending node right ascension are shown in Table 2 below.
[0079] Table 2 Maximum allowable drift amount ratio of different phase / RAAN drift amount
[0080] Therefore, the maximum drift geocentric angle solved by the method determines the maximum allowable drift domain of constellation satellites, which is an approximately circular closed two-dimensional surface. The constellation satellites may drift at different rates in the phase and RAAN directions due to different shapes, surface quality ratios, and various perturbation forces, thereby producing different drift amounts in the same time. The method sets different phase / RAAN drift amount ratios to fit this situation, so that when the maximum allowable drift domain is determined, the drift amount in each direction is determined by the ratio, that is, the method of inscribed (using the geometric constraints and properties of the inscribed figure to transform complex problems into known mathematical relationships (such as side length, angle, area formula), thereby simplifying the solving process) on the approximately circular two-dimensional closed surface is used to make concentric rectangles. Further, the solution domain can provide sufficient design space for subsequent constellation configuration control optimization Reference Figure 5 and Figure 6 In the simulation process, the maximum allowable drift amount is verified by taking : = 2. The initial phase and RAAN of the constellation in the simulation scenario are taken in random directions with positive and negative offsets slightly larger than and , and the constellation coverage performance in the solving time period is evaluated, and the coverage multiplicity is 0 at 17:34:00; when the initial phase and RAAN offset angles are and , the minimum coverage multiplicity in the corresponding time period still maintains 1, which indicates that the drift amount is correct. Therefore, by introducing the maximum allowable drift domain and the equivalent field of view and the mapping relationship between the two, the maximum allowable drift amount in the geocentric angle, phase, and RAAN directions is analytically solved, which ensures that the drift amount is the maximum allowable drift amount of the constellation satellites to achieve the minimum coverage performance of the specified region in the specified time period, thereby reducing the control cost of long-term constellation configuration maintenance.
[0081] In the simulation scenario, the number of Walker constellation satellites used is 108, which breaks through the limitation of the traditional traversal method in which the number of constellation satellites is only dozens. When the number of constellation satellites expands to more than 1000, the method can still be used to calculate the maximum allowable drift amount of the earth observation.
[0082] The same simulation scenario is applied to the method and the traversal method, and the calculation time is compared, and the calculation results are shown in Table 3.
[0083] Table 3. Comparison of the calculation time of the proposed method and the traditional traversal method under the same simulation scenario
[0084] As can be seen from Table 3, under the constellation scale of 108 satellites, the calculation time of the maximum allowable drift amount that ensures the coverage performance of the target area in one day is 2909 min. If the simulation time period, the number of regional nodes, or the number of satellites is further expanded, the calculation time will be immeasurable. However, the calculation time of the proposed analytical solution method based on the equivalent field of view is only 53 min, which is reduced by 98.1% compared to the original method, and the calculation time is greatly improved.
[0085] In summary, in the observation constellation configuration control method based on the maximum allowable drift domain provided by the embodiments of the present application, based on the observation performance of the target constellation on the surface of the central celestial body, the critical equivalent field of view is obtained through geometric equivalence, and the maximum allowable drift domain is obtained through analytical derivation. The phase maximum allowable drift amount (the first maximum allowable drift amount) and the ascending node right ascension maximum allowable drift amount (the second maximum allowable drift amount) are determined by the maximum allowable drift domain through the method of internal cutting, which are used as the target constellation configuration control threshold to control the configuration of the target constellation, thereby reducing the calculation amount required to determine the maximum allowable drift amount, improving the accuracy of the maximum allowable drift amount under the same computing power, and further improving the configuration control effect of the target constellation.
[0086] Correspondingly, the embodiments of the present application provide an observation constellation configuration control device based on the maximum allowable drift domain. The target constellation moves around the central celestial body to perform observation tasks on the central celestial body, as shown in Figure 7 The device includes a drift domain determination module 801, a drift amount determination module 802, and a configuration control module 803.
[0087] The drift domain determination module 801 is configured to determine the maximum allowable drift domain of the target constellation based on the critical equivalent field of view of the target constellation. The critical equivalent field of view of the target constellation is the equivalent field of view in which the target constellation can continuously observe the central celestial body. The maximum allowable drift domain of the target constellation is the drift range of the target constellation relative to the nominal orbit of the target constellation. For example, the drift domain determination module 801 is configured to implement S101 of the above configuration control method.
[0088] The drift amount determination module 802 is configured to determine the first maximum allowable drift amount of the target constellation in the phase direction and the second maximum allowable drift amount of the target constellation in the ascending node right ascension direction according to the maximum allowable drift domain of the target constellation. For example, the drift amount determination module 802 is configured to implement S102 of the above configuration control method.
[0089] The configuration control module 803 is configured to perform configuration control on the target constellation when, for any satellite in the plurality of satellites in the target constellation, the drift of the satellite in the phase direction is greater than or equal to the first maximum allowable drift amount, or the drift of the satellite in the right ascension of the ascending node direction is greater than or equal to the second maximum allowable drift amount. For example, the configuration control module 803 is configured to implement S103 of the above configuration control method.
[0090] The modules of the above observation constellation configuration control device based on the maximum allowable drift domain can also be used to perform other steps in the above method embodiments, and all related contents involved in the above method embodiments can be cited in the description of the corresponding functional modules, which will not be repeated here.
[0091] The embodiments of the present application also provide an electronic device, including a processor and a memory coupled to the processor; the memory is configured to store computer instructions; when the electronic device is running, the processor executes the computer instructions stored in the memory, so that the electronic device executes the method in the above embodiments. The processor can implement the drift domain determination module 801, the drift amount determination module 802, and the configuration control module 803; the memory can also be used to store the critical equivalent field of view of the target constellation, the maximum allowable drift domain, the first maximum allowable drift amount, and the second maximum allowable drift amount.
[0092] The embodiments of the present application also provide a computer readable storage medium, which includes a computer program; when the computer program is running on a computer, the method described in the above embodiments is executed.
[0093] The embodiments of the present application also provide a computer program product, which includes computer program instructions; when the computer program instructions are running on a computer, the method described in the above embodiments is executed.
[0094] Each of the embodiments in the specification is described in a progressive manner, and the same or similar parts of each of the embodiments can be cited, and each of the embodiments mainly describes the differences from other embodiments.
[0095] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.
Claims
1. A method for controlling the configuration of an observation constellation based on the maximum permissible drift domain, wherein the target constellation revolves around a central celestial body to perform observation tasks on the central celestial body, characterized in that, The method includes: Based on the critical equivalent field of view of the target constellation, the maximum allowable drift region of the target constellation is determined; wherein, the critical equivalent field of view of the target constellation is the equivalent field of view in which the target constellation can just achieve continuous observation of the central celestial body; the maximum allowable drift region of the target constellation is the drift range of the target constellation relative to the nominal orbit of the target constellation, corresponding to the critical equivalent field of view of the target constellation. Based on the maximum allowable drift domain of the target constellation, determine the first maximum allowable drift amount of the target constellation in the phase direction and the second maximum allowable drift amount in the right ascension direction of the ascending node; For any satellite among the multiple satellites in the target constellation, when the satellite's drift in the phase direction is greater than or equal to the first maximum permissible drift, and / or when the satellite's drift in the right ascension direction of the ascending node is greater than or equal to the second maximum permissible drift, configuration control is performed on the target constellation.
2. The method as described in claim 1, characterized in that, The maximum allowable drift domain of the target constellation satisfies the following formula; in, This represents the geocentric angle corresponding to the maximum allowable drift region; Indicates the radius of the central celestial body; This indicates the orbital altitude of the target constellation, which is a constellation at the same orbital altitude. This represents the critical equivalent field of view half-angle of the satellites within the target constellation; This represents the original field of view half-angle of the satellites within the target constellation, where the onboard equipment carried by each of the multiple satellites in the target constellation is the same.
3. The method as described in claim 1 or 2, characterized in that, The first maximum allowable drift amount satisfies the following formula; in, Indicates phase, This represents the first maximum allowable drift amount. This indicates the orbital altitude of the target constellation. Indicates the radius of the central celestial body. This represents the original half-angle of the field of view of the satellites within the target constellation. This represents the critical equivalent field of view half-angle of the satellites within the target constellation. This represents the cutoff ratio for the first maximum allowable drift. Indicates the right ascension of the ascending node. This represents the cutoff ratio for the second maximum allowable drift. and The value is set according to the observation mission of the target constellation.
4. The method as described in claim 1 or 2, characterized in that, The second maximum allowable drift amount satisfies the following formula; in, Indicates the right ascension of the ascending node. This represents the second maximum allowable drift. This indicates the orbital altitude of the target constellation. Indicates the radius of the central celestial body. This represents the original half-angle of the field of view of the satellites within the target constellation. This represents the critical equivalent field of view half-angle of the satellites within the target constellation. Indicates phase, This represents the cutoff ratio for the first maximum allowable drift. This represents the cutoff ratio for the second maximum allowable drift. and The value is set according to the observation mission of the target constellation.
5. A constellation configuration control device based on the maximum permissible drift domain, used to implement the constellation configuration control method based on the maximum permissible drift domain as described in claim 1, wherein the target constellation revolves around a central celestial body to perform observation tasks on the central celestial body, characterized in that... It includes a drift domain determination module, a drift amount determination module, and a configuration control module; The drift domain determination module is used to determine the maximum permissible drift domain of the target constellation based on the critical equivalent field of view of the target constellation; wherein, the critical equivalent field of view of the target constellation is the equivalent field of view that the target constellation can just achieve continuous observation of the central celestial body; the maximum permissible drift domain of the target constellation is the drift range of the target constellation relative to the nominal orbit of the target constellation, corresponding to the critical equivalent field of view of the target constellation. The drift determination module is used to determine, based on the maximum permissible drift domain of the target constellation, the first maximum permissible drift in the phase direction and the second maximum permissible drift in the right ascension direction of the ascending node; The configuration control module is used to perform configuration control on the target constellation for any one of the multiple satellites in the target constellation when the drift of the satellite in the phase direction is greater than or equal to the first maximum allowable drift, and / or the drift of the satellite in the right ascension direction of the ascending node is greater than or equal to the second maximum allowable drift.
6. An electronic device, characterized in that, The device includes a processor and a memory coupled to the processor; the memory is used to store computer instructions, which, when the electronic device is running, are executed by the processor to cause the electronic device to perform the method as described in any one of claims 1 to 4.
7. A computer-readable storage medium, characterized in that, It includes computer program instructions that, when executed by a computer, cause the computer to perform the method as described in any one of claims 1 to 4.
8. A computer program product, characterized in that, It includes computer program instructions that, when executed on a computer, cause the computer to perform the method as described in any one of claims 1 to 4.