On-satellite autonomous selection method of data transmission antenna, electronic equipment and medium

Abstract

The invention discloses an on-satellite autonomous selection method for a data transmission antenna, and the method comprises the steps: calculating an included angle between a + Z antenna beam center vector and a satellite-ground station vector at fixed time from a first time point, determining a first time length and a second time length based on the included angle, wherein the first time length refers to the time length from the first time less than or equal to the antenna beam angle to the second time greater than or equal to the antenna beam angle, and the second time length refers to the time length from the first time less than or equal to the antenna beam angle to the second time greater than or equal to the antenna beam angle; and determining a data downloading starting moment and a data downloading ending moment. The data transmission antenna selection method is autonomously completed by a satellite based on the current attitude of the satellite, the position of a ground station and other information, so that the method can adapt to the current attitude and orientation of the satellite and further adapt to on-satellite autonomous task planning.

Description

Technical Field

[0001] This invention relates to the field of aerospace technology, and in particular to an onboard autonomous selection method, electronic equipment, and medium for a data transmission antenna. Background Technology

[0002] With the continuous development of aerospace technology, the mission execution mode of satellites is gradually evolving from centralized ground control to on-orbit autonomy. Modern satellites often need to autonomously complete complex on-orbit tasks such as target detection, mission replanning, and emergency response. The triggering time, execution duration, and target orientation of such tasks are often dynamically uncertain, which makes it impossible to accurately predict key parameters such as the satellite's attitude state and Earth pointing angle in advance through ground control.

[0003] In traditional data transmission mission planning, the ground system needs to calculate and distribute the core parameters of the data transmission mission in advance based on the satellite's preset orbital parameters and fixed mission procedures. These parameters include the entry and exit time windows of the data transmission link, the compatible data transmission antenna type, the operating frequency band, and the link bandwidth. This mode is only suitable for scenarios where the satellite mission procedure is fixed and the attitude pointing can be predicted in advance, and the stability of the data transmission link can be ensured through centralized ground planning.

[0004] However, in scenarios where satellites possess autonomous on-orbit planning capabilities, the limitations of traditional models become increasingly apparent. On the one hand, the dynamic adjustments of satellite autonomous missions lead to real-time changes in attitude and ground pointing, making it easy for pre-calculated data transmission parameters on the ground to become out of sync with the actual on-orbit status, resulting in link interruptions, data transmission failures, or resource waste. On the other hand, the emergency and random nature of autonomous missions requires data transmission planning to have rapid response capabilities, while the communication latency between the ground and the satellite further reduces the adaptability of traditional pre-planning models. Summary of the Invention

[0005] The first aspect of this invention provides an on-board autonomous selection method for data transmission antennas, which is accomplished through joint ground and on-orbit computation, including: The angle between the +Z antenna beam center vector and the satellite-ground station vector is calculated starting from the first time point, where the first time point is the first preset time period before the satellite arrival time; A first duration and a second duration are determined based on the included angle, wherein the first duration refers to the duration from when the included angle is first less than or equal to the antenna beam angle to when it is again greater than or equal to the antenna beam angle, and the second duration refers to the duration from when the supplementary angle of the included angle is first less than or equal to the antenna beam angle to when it is again greater than or equal to the antenna beam angle; and The antenna is selected based on the first and second durations, and the start and end times of data downlink are determined.

[0006] Furthermore, the satellite-ground station vector is determined based on the ground station coordinates and the predicted satellite position data generated by the forecast.

[0007] Furthermore, if the data transmission antenna needs to be preheated, the first preset duration shall not be less than the sum of the antenna preheating duration and the on-board calculation duration; if the data transmission antenna does not need to be preheated, the first preset duration shall not be less than the on-board calculation duration.

[0008] Furthermore, the antenna beam angle is 70°.

[0009] Furthermore, the on-board autonomous selection method also includes: The satellite's arrival and departure times are calculated on the ground and uploaded to the satellite.

[0010] Based on the aforementioned on-board autonomous selection method, a second aspect of the present invention provides a method for implementing an on-board data transmission task, comprising: The on-board autonomous selection method described above is used to select the antenna, and the start and end times of data downlink are determined; and At the start of data download, the selected antenna is used to begin data download, which continues until the end of data download.

[0011] Furthermore, the implementation method also includes: If an attitude maneuver request is received between the start of antenna selection calculation and satellite departure, the data transmission task is cancelled and the attitude maneuver request is responded to.

[0012] Based on the data transmission antenna selection method described above, a third aspect of the present invention provides an electronic device for selecting a data transmission antenna, comprising a memory and a processor, wherein the memory is configured to store a computer program that executes the on-board autonomous selection method described above when the processor is running.

[0013] A fourth aspect of the present invention also provides a computer-readable storage medium for selecting a data transmission antenna, which stores a computer program that, when run on a processor, executes the on-board autonomous selection method as described above.

[0014] This invention provides an on-board autonomous selection method, electronic equipment, and medium for data transmission antennas. The method employs a combination of ground-based and on-orbit computation to select the data transmission antenna. Specifically, the ground station provides the selected data transmission ground station ID and calculates the geometrically visible entry and exit times. Then, the satellite calculates and determines the antenna used for the current data transmission mission based on its orbit, attitude pointing, antenna installation location, and ground station location. By autonomously selecting the antenna through on-orbit computation, the system can better and faster respond to dynamic adjustments in the satellite's autonomous mission. Furthermore, the parameters obtained from on-orbit computation closely approximate the actual satellite state, effectively preventing link interruptions. Attached Figure Description

[0015] To further illustrate the above and other advantages and features of the various embodiments of the present invention, a more specific description of the various embodiments of the present invention will be presented with reference to the accompanying drawings. It is to be understood that these drawings depict only typical embodiments of the invention and are therefore not intended to limit its scope. In the drawings, identical or corresponding parts will be indicated by identical or similar reference numerals for clarity.

[0016] Figure 1 This diagram illustrates a flow chart of an on-board autonomous selection method for a data transmission antenna according to an embodiment of the present invention; and Figure 2 This is a schematic diagram illustrating a method for implementing an on-board data transmission task according to an embodiment of the present invention. Detailed Implementation

[0017] In the following description, the invention is described with reference to various embodiments. However, those skilled in the art will recognize that the embodiments may be practiced without one or more specific details or in conjunction with other alternatives and / or additional methods or components. In other instances, well-known structures or operations are not shown or described in detail so as not to obscure the inventive points of the invention. Similarly, for illustrative purposes, specific numbers and configurations are set forth to provide a comprehensive understanding of embodiments of the invention. However, the invention is not limited to these specific details.

[0018] In this specification, references to "an embodiment" or "this embodiment" mean that a particular feature, structure, or characteristic described in connection with that embodiment is included in at least one embodiment of the invention. The phrase "in one embodiment" appearing throughout this specification does not necessarily refer to the same embodiment in all instances.

[0019] It should be noted that the embodiments of the present invention describe the method steps in a specific order; however, this is only for illustrating the specific embodiment and not for limiting the order of the steps. On the contrary, in different embodiments of the present invention, the order of the steps can be adjusted according to actual needs.

[0020] With the development of onboard autonomous mission planning, relying solely on ground-based pre-calculation is no longer sufficient to meet the data transmission needs of autonomous mission satellites. Therefore, it is urgent to construct a joint planning mechanism that combines ground planning with on-orbit real-time calculation. Through two-way data interaction and collaborative decision-making, this mechanism ensures dynamic matching between data transmission mission parameters and the satellite's on-orbit status and autonomous mission progress, guaranteeing the reliability of the data transmission link and data transmission efficiency. Based on this, this invention proposes an onboard autonomous selection method for data transmission antennas. It calculates the geometrically visible entry and exit times by providing the selected data transmission ground station ID from the ground, and then, based on the satellite's orbit, attitude pointing, antenna installation location, and ground station location, calculates and determines the antenna used for the current data transmission mission in orbit.

[0021] The technical solution of the present invention will be further described below with reference to the accompanying drawings of the embodiments.

[0022] Figure 1 This diagram illustrates a flow chart of an on-board autonomous selection method for a data transmission antenna according to an embodiment of the present invention. Figure 1 As shown, an on-board autonomous selection method for a data transmission antenna includes: First, in step 101, the satellite's arrival and departure times are determined. The satellite arrival time T0 and departure time T3 are calculated using a ground station. The satellite arrival time T0 and departure time T3 are theoretical calculations and do not need to consider the satellite's attitude. In one embodiment of the invention, the time interval between the satellite arrival time and the satellite departure time is considered to be no more than 12 minutes. Next, in step 102, the angle between the +Z antenna beam center vector and the satellite-ground station vector is determined. The +Z antenna beam center vector is calculated. Satellite-Ground Station Vector The included angle : .

[0023] To ensure the duration of the executable task, antenna selection calculations and the startup and warm-up of corresponding individual units should be completed before the satellite enters orbit. Based on this, in one embodiment of the present invention, the first time point is defined as the time point shifted forward by a first preset duration from the satellite's arrival time, and the calculation of the included angle begins. This first preset duration is not less than the total time required for the corresponding onboard calculations and the startup and warm-up of the corresponding individual units. The startup and warm-up time required for each individual unit, such as the antenna, is determined based on the unit's performance; for example, the startup and warm-up time for commonly used data transmission antennas is 5 minutes. It should be understood that in some embodiments of the present invention, the data transmission antenna used does not require warm-up, so the startup time can be ignored, and therefore the first preset duration is not less than the corresponding onboard calculation time. In one embodiment of the present invention, the time required for onboard calculations is determined based on the current orbit information, the computing power of the onboard computer, and its usage allocation. Specifically, since the data transmission task needs to be completed during the satellite's visible time period, the antenna selection calculation mainly targets the included angle during the time period from T0 to T3, and the calculation time required is not greater than the visible time period. To ensure mission success, the satellite attitude and pointing at the actual mission execution time and the calculation time should be consistent. Onboard calculation time should be minimized. Therefore, in one embodiment of this invention, a segmented calculation method is used for angle calculation within the visible time period, i.e., simultaneous calculation of the angles at multiple time points, thereby significantly reducing the calculation time. In another embodiment, the computing power of the satellite computer can be allocated according to actual needs to determine the required calculation time. For example, if the visible time is 12 minutes, by allocating the computing power of the satellite computer so that the angle between two time points is calculated per second, the calculation time is approximately 6 minutes; if the angle between four time points is calculated per second, the calculation time is approximately 3 to 4 minutes, and so on. In another embodiment, the +Z antenna beam center vector is equal to the +Z direction vector in the J2000 coordinate system. , in, , , pose matrix The elements in the pose matrix, and the pose matrix Based on the current satellite attitude quaternion The result of the conversion is: .

[0024] In one embodiment of the present invention, the satellite-ground station vector Based on ground station coordinates and satellite vectors Sure: , in, The ground station coordinates The coordinates of the ground station in the J2000 coordinate system are obtained by transforming the ground station's WGS84 coordinate values. The WGS84 coordinate values ​​of the ground station are determined by the ground station ID annotated on the ground, and the transformation matrix... as follows: , in, Greenwich Mean Time (GMT) ,in The initial value for the Greenwich sidereal hour angle at 12:00 on January 1, 2000. The coefficient of the rate of change of the Greenwich sidereal time angle. The Julian century number is defined as starting at 12:00 on January 1, 2000. ,in The current onboard time of the satellite; and satellite vectors Determined based on satellite position forecast data in the J2000 coordinate system generated by the forecast; Next, in step 103, the first and second durations are determined. The first and second durations are determined based on the angle between the +Z antenna beam center vector and the satellite-ground station vector. The first duration refers to the time from when the angle is first less than or equal to the antenna beam angle to when it is again greater than or equal to the antenna beam angle. The second duration refers to the time from when the supplementary angle of the angle is first less than or equal to the antenna beam angle to when it is again greater than or equal to the antenna beam angle. Specifically, when... The moment when the value is less than or equal to the preset value for the first time is recorded as t1_start. After t1_start, the first time the value is satisfied... When the time is greater than or equal to the preset value, this moment is recorded as t1_end, and the first duration is... ,when The moment when the value is less than or equal to the preset value for the first time is recorded as t2_start. After t2_start, the first time the value is satisfied... If the value is greater than or equal to the preset value, this moment is recorded as t2_end, and the second duration is... In one embodiment of the present invention, the preset value is equal to the absolute value of the antenna beam angle; for example, if the antenna beam angle is ±70°, then the preset value is 70°. Finally, in step 104, an antenna is selected. An antenna is selected based on the first and second durations, and the data download start time and data download end time are determined. In one embodiment of the invention, if the first duration is greater than the second duration, a +Z antenna is selected, and t1_start is taken as the data download start time T1, and t1_end is taken as the data download end time T2; and If the first duration is less than or equal to the second duration, then the -Z antenna is selected, and t2_start is taken as the data downlink start time T1, and t2_end is taken as the data downlink end time T2.

[0025] Based on the on-board autonomous selection method described above, this invention also provides a method for implementing on-board data transmission tasks. Figure 2 This is a schematic diagram illustrating a method for implementing an on-board data transmission task according to an embodiment of the present invention. Figure 2 As shown, the entire data transmission task includes several key time nodes. Taking a data transmission task that requires antenna preheating as an example, the implementation method includes: First, calculate and annotate the T0 and T3 values ​​on the ground, namely the satellite's arrival time and satellite's departure time; Next, at the first time point, for example, T0-11min, the antenna selection calculation is performed using the data transmission antenna selection method described above, and the data downlink start time T1 and data downlink end time T2 are determined. Next, at a second time point, for example, starting from T0-5 minutes, or after the antenna selection calculation is completed, antenna switching, X-band transmitter power-on, and warm-up are performed. As mentioned earlier, in some embodiments, the warm-up step can be omitted, and the first time point can be, for example, T0-6 minutes; and Finally, starting from time T1, data downlinking begins using the selected antenna and continues until time T2 when the data downlinking ends.

[0026] In one embodiment of the present invention, if an attitude maneuver request is received between the first time point and T3, the data transmission task is cancelled and the attitude maneuver request is responded to.

[0027] As can be seen, in the implementation method, the multiple key time nodes are calculated by the ground and the satellite respectively. Specifically, T0 and T3 are theoretical calculation results obtained by ground calculation and are independent of the satellite attitude, while T1 and T2 are calculated by the satellite based on the attitude and are the actual mission execution times. This allows for better adaptation to the satellite's attitude and pointing, and to adapt to the satellite's autonomous mission planning.

[0028] Based on the on-board autonomous selection method described above, the present invention also provides an electronic device for selecting a data transmission antenna, comprising a memory and a processor, wherein the memory is configured to store a computer program that executes the on-board autonomous selection method described above when the processor is running.

[0029] The present invention also provides a computer-readable storage medium for selecting a data transmission antenna, which stores a computer program that, when run on a processor, executes the on-satellite autonomous selection method as described above.

[0030] Although various embodiments of the invention have been described above, it should be understood that they are presented by way of example only and not as limitations. It will be apparent to those skilled in the art that various combinations, modifications, and alterations can be made without departing from the spirit and scope of the invention. Therefore, the breadth and scope of the invention disclosed herein should not be limited by the exemplary embodiments disclosed above, but should be defined solely by the appended claims and their equivalents.

Claims

1. A method for on-board autonomous selection of data transmission antennas, characterized in that The method comprises: starting to calculate an angle between a +Z antenna beam center vector and a satellite-ground station vector at a first time point, wherein the first time point is a first preset time period before a satellite entry time; determining a first time period and a second time period based on the angle, wherein the first time period refers to a time period from when the angle is less than or equal to a preset value for the first time to when the angle is greater than or equal to the preset value again, and the second time period refers to a time period from when a complementary angle of the angle is less than or equal to the preset value for the first time to when the complementary angle is greater than or equal to the preset value again; and selecting an antenna based on the first time period and the second time period, and determining a data downlink start time and a data downlink end time.

2. The on-board autonomous selection method of claim 1, wherein, The +Z antenna beam center vector equals the +Z direction vector in the J2000 coordinate system wherein , , is an element in the attitude matrix and the attitude matrix is obtained by converting the current satellite attitude quaternion : 。 3. The on-board autonomous selection method of claim 1, wherein, the satellite-ground station vector in terms of ground station coordinates and the satellite vector determined: ， Wherein, The ground station coordinates are the coordinates of the ground station in the J2000 coordinate system, which are converted from the WGS84 coordinate values of the ground station, where the conversion matrix is as follows: ， wherein is the Greenwich Sidereal Hour Angle, wherein is the initial value of the Greenwich Sidereal Hour Angle at 12 o'clock on January 1, 2000, is the rate of change of the Greenwich Sidereal Hour Angle with time, is the Julian Century number from 12 o'clock on January 1, 2000, wherein is the current on-board time of the satellite; and the satellite vector The satellite position prediction data is calculated based on a prediction generated.

4. The on-board autonomous selection method of claim 1, wherein, if the data downlink antenna needs to be preheated, the first preset time period is not less than a preheating time period required and a calculation time period required, and if the data downlink antenna does not need to be preheated, the first preset time period is not less than the calculation time period required.

5. The on-board autonomous selection method of claim 4, wherein, The preheating time period required is determined according to a single machine performance, and / or the calculation time period required is determined according to orbit information and star computer power distribution.

6. The on-board autonomous selection method of claim 1, wherein, The preset value is equal to an absolute value of an antenna beam angle.

7. The on-board autonomous selection method of claim 1, wherein, The selecting an antenna based on the first time period and the second time period, and determining a data downlink start time and a data downlink end time comprises: if the first time period is greater than the second time period, selecting a +Z antenna, and taking a time point when the angle is less than or equal to the antenna beam angle for the first time as the data downlink start time, and taking a time point when the angle is greater than or equal to the antenna beam angle again as the data downlink end time; and if the first time period is less than or equal to the second time period, selecting a -Z antenna, and taking a time point when the complementary angle of the angle is less than or equal to the antenna beam angle for the first time as the data downlink start time, and taking a time point when the complementary angle of the angle is greater than or equal to the antenna beam angle again as the data downlink end time.

8. The on-board autonomous selection method of claim 1, wherein, Further comprising: calculating a satellite entry time and a satellite exit time on the ground, and uploading to the satellite.

9. An electronic device for selecting a data transmitting antenna, characterized by A memory and a processor are included, wherein the memory is configured to store a computer program, and the computer program executes the on-board autonomous selection method as claimed in any one of claims 1 to 8 when the processor runs.

10. A computer readable storage medium for selecting a data transmitting antenna, characterized by, A computer program is stored, and the computer program executes the on-board autonomous selection method as claimed in any one of claims 1 to 8 when the processor runs.

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