Dynamic simulation method for ground equipment pointing to satellite load angle

Abstract

The invention provides a dynamic simulation method for a ground equipment pointing satellite load angle, and belongs to the field of spaceflight measurement and control. The method comprises the following steps: calculating an expected azimuth angle and a pitch angle of a ground device pointing to a to-be-simulated satellite; setting geodetic system coordinates of the initial high point and the height of the initial high point relative to the movement horizontal plane of ground equipment, and fixing a satellite load at the initial high point; calculating northeast sky system coordinates of the ground equipment relative to the satellite load under the condition of meeting the movement speed and range limitation; and converting the northeast sky system coordinate of the ground equipment relative to the satellite load into a geodetic system coordinate, and obtaining a motion track of the ground equipment. According to the invention, the satellite load static arrangement avoids the limitation of the mounting capability and endurance of the unmanned aerial vehicle, and the application scene is expanded; the motion trail of ground equipment is calculated in real time based on geometric constraints, the azimuth angle and pitch angle pointing to a fixed load are ensured to be consistent with the expected angle of an on-orbit satellite, and the limitation that static simulation cannot reflect the dynamic change of the angle is broken through.

Description

Technical Field

[0001] This invention belongs to the field of aerospace telemetry and control technology, specifically relating to a method for dynamically simulating the angle of ground equipment pointing at satellite payloads. Background Technology

[0002] In the field of aerospace telemetry and control, ground equipment needs to establish a precise pointing relationship with satellites. Traditional methods involve two main technologies:

[0003] Static simulation method: The satellite payload is placed at a high point, and ground equipment points at the payload at a static angle. This method cannot simulate the dynamic changes in the pointing angle of ground equipment caused by satellite motion, and differs significantly from the actual on-orbit scenario.

[0004] Unmanned aerial vehicle (UAV) mounting method: This method involves using a UAV to carry a payload and flying at a fixed altitude or distance scaled down, ensuring that the azimuth and pitch angles of ground equipment pointing at the UAV are consistent with those pointing at the simulated on-orbit satellite. However, due to limitations in UAV payload capacity and endurance, this method is difficult to adapt to the testing requirements of large, heavy satellite payloads, thus limiting its application scenarios. Summary of the Invention

[0005] The purpose of this invention is to solve the problems that static simulation cannot realize dynamic angle changes and the application scenarios of UAVs are limited in the existing methods of establishing the pointing relationship between ground equipment and satellite payload. The invention provides a method for dynamically simulating the pointing angle of ground equipment to satellite payload. Specifically, it is a method for dynamically simulating the angle change of pointing to on-orbit satellite by planning the movement trajectory of ground equipment under the condition of fixed high-altitude satellite payload.

[0006] To achieve the above objectives, the technical solution provided by this invention is:

[0007] A method for dynamically simulating the pointing angle of ground equipment towards a satellite payload is provided, including the following steps:

[0008] Step 1: Based on the fixed coordinates of the ground equipment and the orbital elements of the satellite to be simulated, calculate the desired azimuth and elevation angles of the ground equipment pointing towards the satellite at any time during the transit period of the satellite to be simulated.

[0009] Step 2: Set the geodetic coordinates of the initial high point of the satellite payload and its height relative to the horizontal plane of the ground equipment movement, and fix the satellite payload at the initial high point.

[0010] Step 3: Based on the calculated desired azimuth and elevation angles of the ground equipment pointing towards the satellite to be simulated, and the set initial altitude of the satellite payload, calculate the coordinates of the ground equipment relative to the satellite payload in the northeast-sky coordinate system that satisfy the motion constraints and range limitations. This includes the following sub-steps:

[0011] Step 3.1: Based on the desired pitch angle of the ground equipment pointing to the satellite to be simulated and the height of the initial high point relative to the horizontal plane of the ground equipment's movement, calculate the slant distance between the ground equipment and the satellite payload and its horizontal projection.

[0012] Step 3.2: Calculate the east and north coordinates of the ground equipment relative to the satellite payload based on the desired azimuth angle of the ground equipment pointing to the satellite to be simulated and the horizontal projection of the slant distance between the ground equipment and the satellite payload.

[0013] Step 3.3: Determine the celestial coordinates of the ground equipment relative to the satellite payload based on the height of the initial high point relative to the horizontal plane of the ground equipment's movement;

[0014] Step 3.4: Based on the maximum speed constraint and motion boundary constraint of the ground equipment, determine whether the motion speed and range determined by the east and north coordinates of the ground equipment relative to the satellite payload exceed the limits; if they exceed the limits, return to step 2 to adjust the height of the initial high point relative to the horizontal plane of the ground equipment motion and repeat steps 3.1 to 3.3 until the constraints are met, and output the final coordinates of the ground equipment relative to the satellite payload in the northeast celestial coordinate system.

[0015] Step 4: Based on the output coordinates of the ground equipment relative to the satellite payload in the northeast-central sky coordinate system and the geodetic coordinates of the final elevation point, calculate the motion trajectory parameters of the ground equipment through coordinate transformation.

[0016] Furthermore, in step 3.1, the calculation of the slant range between the ground equipment and the satellite payload and their horizontal projection satisfies the following geometric relationship:

[0017]

[0018]

[0019] In the formula, Indicates the slant distance between ground equipment and satellite payload. This indicates the height of the satellite payload's initial elevation relative to the horizontal plane of the ground equipment's movement. This indicates the desired pitch angle of the ground equipment pointing towards the satellite to be simulated. This represents the projection of the slant distance onto the horizontal plane.

[0020] Further, in step 3.2, the eastward and northward coordinates of the ground equipment relative to the satellite payload are calculated as follows:

[0021]

[0022]

[0023] In the formula, and These represent the eastward and northward coordinates of the ground equipment relative to the satellite payload, respectively. This indicates the desired azimuth angle of the ground equipment pointing towards the satellite to be simulated.

[0024] Furthermore, in step 3.3, the celestial coordinates of the ground equipment relative to the satellite payload are:

[0025]

[0026] In the formula, This indicates the celestial coordinates of the ground equipment relative to the satellite payload.

[0027] Furthermore, in step 3.4, the verification of the ground equipment's movement speed and range includes: calculating the ground equipment's movement speed on the east-north horizontal plane at any time during the simulated satellite's transit period. If there exists any ,or x E ∉ [ x min , x max ] ,or y N ∉ [ y min , y max ] ,in This represents the maximum speed of the ground equipment on the northeast-northeast horizontal plane. [ x min , x max ] and [ y min , y max ] The boundary of motion of the ground equipment relative to the high point of the satellite payload, where and These represent the left and right boundaries of the eastward movement, respectively. and If the upper and lower boundaries of the northward movement are respectively indicated, then the horizontal movement speed and range of the ground equipment are determined to be out of limit.

[0028] Furthermore, in step 3.4, the specific method for adjusting the satellite payload altitude is as follows: gradually lowering it in fixed step sizes. This continues until the speed and range of movement of the ground equipment meet the constraints.

[0029] Furthermore, the coordinate transformation in step 4 specifically involves: using the rotation transformation formula from the northeast-northeast coordinate system to the geodetic coordinate system, the coordinates are transformed... The geodetic coordinates of the satellite payload are superimposed to generate the geodetic coordinate motion trajectory of the ground equipment.

[0030] The advantages of this invention are:

[0031] 1. The proposed method for dynamic simulation of the pointing angle of a satellite payload by ground equipment achieves accurate dynamic simulation of the pointing angle of an on-orbit satellite by fixing the satellite payload at a high point and dynamically planning the trajectory of the ground equipment. Compared with traditional static simulation and UAV-mounted solutions, this method completely solves the contradiction between physical limitations and dynamic simulation: on the one hand, the static arrangement of the satellite payload avoids the limitations of UAV carrying capacity and endurance, and can adapt to the testing requirements of large and heavy satellite payloads; on the other hand, the ground equipment's trajectory is calculated in real time based on geometric constraints, ensuring that its azimuth and elevation angles pointing at the fixed payload are strictly consistent with the expected angle of the actual on-orbit satellite, thus overcoming the limitation that static simulation cannot reflect dynamic changes in angle.

[0032] 2. The method of the present invention can be directly deployed in flat and open areas without relying on aircraft or complex infrastructure, which significantly reduces the implementation threshold and has strong applicability.

[0033] 3. In this invention, the satellite payload is statically fixed, which can eliminate the risks of UAV crashes and signal interference; the ground equipment moves according to a preset trajectory, which can avoid the control complexity of high dynamic real-time response. Attached Figure Description

[0034] The above and / or other features and advantages of the present invention will become more readily understood from the following description with reference to the accompanying drawings, in which:

[0035] Figure 1 This is a flowchart of the method for dynamically simulating the angle of ground equipment pointing at satellite payload according to the present invention;

[0036] Figure 2 In this invention, the fixed ground equipment is pointed at the on-orbit satellite scenario to be simulated;

[0037] Figure 3 This invention describes a scenario where a horizontally open ground moving device points towards a high point to fix a satellite payload.

[0038] Figure 4 This is the east-north horizontal plane of the present invention. Detailed Implementation

[0039] The present invention will now be described in detail with reference to the accompanying drawings and exemplary embodiments thereof. It should be noted that the following detailed description of the present invention is for illustrative purposes only and is not intended to limit the scope of the invention.

[0040] This invention provides a method for dynamically simulating the pointing angle of ground equipment towards a satellite payload. The satellite payload is placed at a high point, and the motion trajectory of the ground equipment is planned according to the principle that the azimuth and pitch angle of the ground equipment pointing towards the satellite payload are consistent with those of the satellite to be simulated. This simulates the relative position change between the ground equipment and the satellite, thereby realizing the dynamic simulation of the pointing angle. This method can solve the problems of static simulation in existing methods of establishing the pointing relationship between ground equipment and satellite payload, which cannot realize dynamic angle changes and has limited application scenarios for UAVs.

[0041] Reference Figure 1 The method for dynamically simulating the angle of ground equipment pointing at satellite payloads provided by the present invention may include the following steps:

[0042] Step 101: Based on the fixed coordinates of the ground equipment and the orbital elements of the satellite to be simulated, calculate the desired azimuth and desired elevation angles of the ground equipment pointing towards the satellite at any time during the transit period of the satellite to be simulated.

[0043] Step 102: Set the geodetic coordinates of the initial high point of the satellite payload and its height relative to the horizontal plane of the ground equipment movement, and fix the satellite payload at the initial high point;

[0044] Step 103: Based on the calculated desired azimuth and elevation angles of the ground equipment pointing towards the satellite to be simulated, and the set initial high point of the satellite payload, calculate the northeast celestial coordinates of the ground equipment relative to the fixed high point of the satellite payload, under the condition of meeting the speed and range constraints.

[0045] Step 104: Based on the output coordinates of the ground equipment relative to the satellite payload in the northeast celestial coordinate system and the geodetic coordinates of the final elevation point, calculate the motion trajectory parameters of the ground equipment through coordinate transformation.

[0046] In step 101, in some embodiments, a fixed ground device can be established pointing towards the on-orbit satellite scenario to be simulated, such as... Figure 2 As shown, assuming the ground equipment is fixed and the satellite to be simulated is in orbit, with the ground equipment pointing towards the satellite, the desired azimuth angle of the satellite relative to the ground equipment at any moment during its transit period can be calculated based on the coordinates of the ground equipment and the orbital elements of the satellite. and desired pitch angle The algorithms described above are known and mature, and will not be elaborated upon further in this article.

[0047] In step 102, a scenario can be established where ground equipment moves on a horizontal, open surface, and the satellite payload is located at an initial altitude, such as... Figure 3 As shown, assuming the ground equipment can move across a horizontal, open area, the satellite payload is placed at an initial elevation point located within the aforementioned horizontal, open area. The geodetic coordinates of the initial elevation point are: The initial height relative to the horizontal plane of the ground equipment's movement is During the movement of the ground equipment, the azimuth and pitch of its pointing mechanism are always pointed to the satellite payload located at the initial high point.

[0048] According to the present invention, step 103 may specifically include the following steps:

[0049] Step 1031: Calculate the slant distance and horizontal projection between the moving ground equipment and the fixed satellite payload at the high point, based on the principle of consistent pointing and pitch angles.

[0050] Reference Figure 3 The slant distance between the ground equipment and the high-point fixed satellite payload is The projection of the slant distance onto the horizontal plane is If, during the movement of the ground equipment, the elevation angle pointing towards the satellite payload at the high point is to remain consistent with the angle pointing towards the simulated on-orbit satellite, then the slant distance between the ground equipment and the fixed satellite payload at the high point must satisfy the following relationship:

[0051] (1)

[0052] (2)

[0053] Step 1032: Calculate the east and north coordinates of the moving ground equipment relative to the fixed satellite payload at a high point, following the principle of consistent pointing azimuth.

[0054] Reference Figure 4 To ensure that the azimuth angle pointing towards the satellite payload at the high point remains consistent with that pointing towards the simulated on-orbit satellite during the movement of the ground equipment, then in the Northeast-Northeast coordinate system (ENU) with the fixed satellite payload as the origin, on the East-North horizontal plane, the azimuth angle of the moving ground equipment pointing towards the fixed satellite payload is A+180°, and the eastward coordinate of the ground equipment relative to the fixed satellite payload at the high point is:

[0055] (3)

[0056] The north coordinates of the ground equipment relative to the fixed satellite payload at a high point are:

[0057] (4)

[0058] Step 1033: Based on the initial elevation point relative to the horizontal plane of the moving ground equipment, calculate the celestial coordinates of the moving ground equipment relative to the fixed satellite payload at the elevation point.

[0059] The elevation of the plane on which the ground equipment moves is known to be... Then, in the Northeast Celestial Coordinate System (ENU) with the fixed satellite payload as the origin, the celestial coordinates of the ground equipment relative to the high-point fixed satellite payload are:

[0060] (5)

[0061] Therefore, at any point during the simulated satellite transit period, the northeast celestial coordinates of the moving ground equipment relative to the fixed satellite payload at a high point are: ;

[0062] Step 1034: Calculate the horizontal movement speed and range of the ground equipment. If the maximum speed and range limits are exceeded, adjust the satellite payload placement altitude and repeat the above steps until the ground equipment's movement speed and range meet the constraints.

[0063] Given that the maximum possible speed constraint of ground equipment on the horizontal plane is: The maximum motion boundary constraint relative to the high point is [ x min , x max ] and [ y min , y max ] ,in, and These represent the left and right boundaries of the eastward movement, respectively. and These represent the upper and lower boundaries of the northward movement, respectively.

[0064] Based on the northeast celestial coordinates of the ground equipment relative to the fixed satellite payload at a high point, the velocity of the satellite on the northeast-northeast horizontal plane at any moment during the simulated satellite transit period can be calculated. If there exists any ,or x E ∉ [ x min , x max ] ,or y N ∉ [ y min , y max ] This indicates that the horizontal movement speed and range of the ground equipment exceed the limits. In this case, the satellite payload should be gradually lowered, specifically by gradually lowering it in fixed step sizes. Repeat steps 1031-1033 to obtain the northeast celestial coordinates of the ground equipment relative to the fixed satellite payload at a high point, provided that the horizontal movement speed and range of the ground equipment satisfy the constraints. At the same time, the final fixed elevation point of the satellite payload was determined.

[0065] In step 104, the coordinates of the northeast celestial coordinate system of the ground-based motion device are used. By using the geodetic coordinates of the fixed satellite payload at the high point, i.e., the geodetic coordinates of the final determined high point, and employing mature coordinate transformation methods, the trajectory coordinates of the ground equipment at any moment during the simulated satellite transit period can be obtained. In some embodiments, the coordinates can be transformed from the celestial coordinate system to the geodetic coordinate system using a rotation transformation formula. The geodetic coordinates of the ground equipment are superimposed onto the geodetic coordinates of the satellite payload to generate the geodetic coordinate motion trajectory.

[0066] The ground equipment can move on its own or be pre-programmed with a vehicle based on its movement trajectory.

[0067] Therefore, as described above, compared to traditional static simulation and UAV-mounted solutions, the dynamic simulation method for ground equipment pointing at satellite payload angles proposed in this invention completely resolves the contradiction between physical limitations and the incompatibility of dynamic simulation: on the one hand, the static arrangement of the satellite payload avoids the limitations of UAV carrying capacity and endurance, and can adapt to the testing requirements of large and heavy satellite payloads; on the other hand, based on geometric constraints, the ground equipment's motion trajectory is calculated in real time, ensuring that its azimuth and pitch angles pointing at the fixed payload are strictly consistent with the expected angles of the actual on-orbit satellite, overcoming the limitation that static simulation cannot reflect dynamic angle changes. Furthermore, the method of this invention can be directly deployed in flat and open areas without relying on aircraft or complex infrastructure, significantly lowering the implementation threshold and demonstrating strong applicability. Additionally, the static fixation of the satellite payload in this invention eliminates risks such as UAV crashes and signal interference; the ground equipment moves according to a preset trajectory, avoiding the control complexity of high-dynamic real-time response.

[0068] Finally, it should be noted that the features mentioned and / or shown in the above description of exemplary embodiments of the present invention can be combined in the same or similar manner with one or more other embodiments, combined with features in other embodiments, or substituted for corresponding features in other embodiments. These combined or substituted technical solutions should also be considered to be included within the scope of protection of the present invention.

Claims

1. A method for dynamically simulating the pointing angle of ground equipment towards a satellite payload, characterized in that, Includes the following steps: Step 1: Based on the fixed coordinates of the ground equipment and the orbital elements of the satellite to be simulated, calculate the desired azimuth and elevation angles of the ground equipment pointing towards the satellite at any time during the transit period of the satellite to be simulated. Step 2: Set the geodetic coordinates of the initial high point of the satellite payload and its height relative to the horizontal plane of the ground equipment movement, and fix the satellite payload at the initial high point; Step 3: Based on the calculated desired azimuth and elevation angles of the ground equipment pointing towards the satellite to be simulated, and the set initial altitude of the satellite payload, calculate the coordinates of the ground equipment relative to the satellite payload in the northeast-sky coordinate system that satisfy the motion constraints and range limitations. This includes the following sub-steps: Step 3.1: Based on the desired pitch angle of the ground equipment pointing to the satellite to be simulated and the height of the initial high point relative to the horizontal plane of the ground equipment's movement, calculate the slant distance between the ground equipment and the satellite payload and its horizontal projection. Step 3.2: Calculate the east and north coordinates of the ground equipment relative to the satellite payload based on the desired azimuth angle of the ground equipment pointing to the satellite to be simulated and the horizontal projection of the slant distance between the ground equipment and the satellite payload. Step 3.3: Determine the celestial coordinates of the ground equipment relative to the satellite payload based on the height of the initial high point relative to the horizontal plane of the ground equipment's movement; Step 3.4: Based on the maximum speed constraint and motion boundary constraint of the ground equipment, determine whether the motion speed and range determined by the east and north coordinates of the ground equipment relative to the satellite payload exceed the limits; if they exceed the limits, return to step 2 to adjust the height of the initial high point relative to the horizontal plane of the ground equipment motion and repeat steps 3.1 to 3.3 until the constraints are met, and output the final coordinates of the ground equipment relative to the satellite payload in the northeast celestial coordinate system. Step 4: Based on the output coordinates of the ground equipment relative to the satellite payload in the northeast-central sky coordinate system and the geodetic coordinates of the final elevation point, calculate the motion trajectory parameters of the ground equipment through coordinate transformation.

2. The method for dynamically simulating the angle of ground equipment pointing at a satellite payload according to claim 1, characterized in that, In step 3.1, the calculation of the slant range between the ground equipment and the satellite payload and their horizontal projection satisfies the following geometric relationship: In the formula, Indicates the slant distance between ground equipment and satellite payload. This indicates the height of the satellite payload's initial elevation relative to the horizontal plane of the ground equipment's movement. This indicates the desired pitch angle of the ground equipment pointing towards the satellite to be simulated. This represents the projection of the slant distance onto the horizontal plane.

3. The method for dynamically simulating the angle of ground equipment pointing at a satellite payload according to claim 2, characterized in that, In step 3.2, the eastward and northward coordinates of the ground equipment relative to the satellite payload are calculated as follows: In the formula, and These represent the eastward and northward coordinates of the ground equipment relative to the satellite payload, respectively. This indicates the desired azimuth angle of the ground equipment pointing towards the satellite to be simulated.

4. The method for dynamically simulating the angle of ground equipment pointing at a satellite payload according to claim 3, characterized in that, In step 3.3, the celestial coordinates of the ground equipment relative to the satellite payload are: In the formula, This indicates the celestial coordinates of the ground equipment relative to the satellite payload.

5. The method for dynamically simulating the angle of ground equipment pointing at a satellite payload according to claim 4, characterized in that, Step 3.4, the verification of the speed and range of movement of the ground equipment includes: Calculate the speed of ground equipment on the east-north horizontal plane at any time during the simulated satellite transit period. If there exists any ,or ,or ,in This represents the maximum speed of the ground equipment on the northeast-northeast horizontal plane. and The boundary of motion of the ground equipment relative to the high point of the satellite payload, where and These represent the left and right boundaries of the eastward movement, respectively. and If the upper and lower boundaries of the northward movement are respectively indicated, then the horizontal movement speed and range of the ground equipment are determined to be out of limit.

6. The method for dynamically simulating the angle of ground equipment pointing at a satellite payload according to claim 5, characterized in that, In step 3.4, the specific method for adjusting the satellite payload altitude is as follows: gradually lower it in fixed step sizes. This continues until the speed and range of movement of the ground equipment meet the constraints.

7. The method for dynamically simulating the angle of ground equipment pointing at a satellite payload according to any one of claims 4 to 6, characterized in that, The coordinate transformation in step 4 specifically involves using the rotation transformation formula from the northeast-northeast coordinate system to the earth-earth coordinate system to transform the coordinates... The geodetic coordinates of the satellite payload are superimposed to generate the geodetic coordinate motion trajectory of the ground equipment.

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