A method and system for laser communication link planning with fusion of illumination constraints

Abstract

This invention relates to the field of satellite communication mission planning technology, and proposes a laser communication link planning method and system that integrates illumination constraints to avoid misjudgments and missed judgments caused by ground background light entering the acquisition camera. This invention simulates the movement position of the acquisition camera, then combines satellite orbit and attitude data, and determines the direction of the acquisition camera's central optical axis and the ground projection range of the camera's field of view through coordinate system transformation. Based on the Earth-Sun motion and illumination constraints, it determines whether the image is affected by illumination, thereby determining a reasonable link plan. It provides a scanning range planning mode to predict a reasonable scanning range for the satellite acquisition camera, and a scanning time period planning mode to predict a reasonable scanning time period for the satellite acquisition camera, offering flexible application options for laser communication link planning and promoting rapid and accurate ground-transmitted beam acquisition in lunar space and even deeper space.

Description

Technical Field

[0001] This invention relates to the field of satellite communication mission planning technology, and in particular to a laser communication link planning method and system that incorporates illumination constraints. Background Technology

[0002] Laser communication, as a new generation of space communication technology, has significant advantages over traditional microwave communication, such as high speed, good security, small size, and low power consumption. It has become a research hotspot and mainstream development in the aerospace field both domestically and internationally, gradually extending from near-Earth space-to-ground communication and inter-satellite communication to deep space exploration and gradually realizing operational applications, demonstrating broad engineering application prospects. Among these, the Earth-Moon space, as the forefront of deep space exploration, is a key node connecting the Earth and the Moon and even further into deep space. The realization of Earth-Moon space laser communication has irreplaceable strategic significance for lunar exploration, lunar base construction, and deep space exploration mission support, and is also a key research direction in the current field of laser communication.

[0003] However, despite the numerous advantages of laser communication and its significant value in lunar space applications, its implementation relies on the effective operation of the acquisition, tracking, and targeting system. The acquisition camera, as a key component of the system, directly determines the success rate and speed of link establishment through its ability to capture the laser beam. Complex interference from the ground optical environment is one of the core factors affecting the acquisition camera's performance. This interference primarily manifests as illumination interference, including direct sunlight, atmospheric scattered light, and ground reflected light. This illumination interference severely degrades the imaging quality of the acquisition camera, reducing its ability to identify and capture weak laser beams. Specifically, during daytime operation, strong solar background noise significantly worsens the communication signal-to-noise ratio, making it difficult for the acquisition camera to identify the target laser beam from complex lighting backgrounds, and even leading to misjudgments or missed detections.

[0004] Initial pointing detection and coarse tracking in orbit are the primary steps in establishing a laser communication link and are fundamental to ensuring link stability. Currently, existing laser communication link planning methods primarily focus on optimizing parameters such as link transmission rate and link loss, often neglecting the impact of illumination constraints on the satellite's acquisition camera capabilities and the anti-interference performance of initial pointing detection and coarse tracking in orbit. This results in planned links failing to achieve rapid and accurate acquisition of ground-transmitted beams under complex lighting conditions. Therefore, to address these issues, improve the success rate and timeliness of link acquisition, overcome the limitations of existing link planning methods, and meet the engineering application requirements of lunar-Earth space laser communication, designing a laser communication link planning system and method that integrates illumination constraints has become an urgent technical challenge and a key to promoting the large-scale, engineering application of laser communication in lunar-Earth space and even deeper space. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a laser communication link planning method and system that integrates illumination constraints, so as to solve the problem that the existing satellite-to-ground laser communication link planning does not take into account the impact of ground illumination constraints on the planning of reasonable scanning range and scanning time period of satellite acquisition camera.

[0006] The technical solution of this invention to solve the above-mentioned technical problems is as follows: A laser communication link planning method incorporating illumination constraints, comprising: S1. Acquire orbital and attitude data of the satellite platform, capture camera configuration parameters, plan application scenario mode, and scan control parameters corresponding to the planned application scenario mode; wherein, the planned application scenario mode is a scan range planning mode or a scan time period planning mode, and the scan control parameters are information used to control the scanning process of the capture camera; S2. Based on the scanning control parameters, simulate and generate a set of position sequences of the capture camera, where each element in the set of position sequences corresponds to a movement position of the capture camera; S3. Based on the set of position sequences, the configuration parameters of the capture camera, the orbit data, and the attitude data, calculate the ground projection range boundary of the observation field of view of the capture camera at each motion position; S4. Determine whether the boundaries of the ground projection range of each observation field are affected by illumination based on the preset illumination constraints. S5. When there is a boundary of the ground projection range of the observation field of view affected by illumination, stop the iteration and generate the laser communication link planning result based on the previous iteration process; otherwise, adjust the scanning range or scanning time in the scanning control parameters based on the planning application scenario mode, and return to step S2.

[0007] The beneficial effects of this invention are as follows: This method acquires satellite orbital attitude data and acquisition camera configuration parameters, and generates a motion position sequence by combining scan control parameters. It then calculates the boundary of the ground projection range of the observation field of view and determines the influence of illumination. When illumination influence exists, the iteration stops and the previous planning result is output; otherwise, the scanning range or scanning time is adjusted according to the planning mode, and iteration continues. This method effectively avoids the problem of misjudgment and missed judgment caused by ground background light entering the acquisition camera, and avoids the interference of strong solar background noise on on-orbit acquisition performance. Furthermore, it supports two application scenarios: scan range planning mode and scan time period planning mode. It can predict reasonable scan ranges or scan time periods respectively, providing a flexible and reliable choice for laser communication link planning. This significantly improves the ability of satellite-to-ground laser communication to quickly and accurately acquire ground-emitted beams in complex lighting environments, and is particularly suitable for Earth-Moon space and deep space laser communication missions.

[0008] Based on the above technical solution, the present invention can be further improved as follows.

[0009] Further, the step of calculating the ground projection range boundary of the observation field of view of the capture camera at each movement position based on the position sequence set, the capture camera configuration parameters, the orbit data, and the attitude data includes: calculating the central optical axis pointing of the capture camera at each movement position based on the position sequence set, the installation matrix and the nominal principal optical axis vector in the capture camera configuration parameters; and calculating the ground projection range boundary of the observation field of view of the capture camera at each movement position based on the central optical axis pointing of the capture camera at each movement position, the camera field of view range in the capture camera configuration parameters, the orbit data, and the attitude data.

[0010] Further, the step of calculating the central optical axis pointing of the capture camera at each motion position based on the position sequence set, the mounting matrix in the capture camera configuration parameters, and the nominal principal optical axis vector includes: for each motion position, calculating the central optical axis pointing of the capture camera at that motion position using a first formula based on the azimuth angle value fw and the pitch angle value fy corresponding to the motion position in the position sequence set, the mounting matrix in the capture camera configuration parameters, and the nominal principal optical axis vector; wherein, the first formula is: ; in, The direction of the central optical axis; To install the matrix; The nominal principal optical axis vector; For rotation matrix, The expression is: .

[0011] Furthermore, the method for determining whether the boundaries of the ground projection range of each observation field of view are affected by illumination based on preset illumination constraints includes: calculating the solar altitude angle on the boundary of the ground projection range of each observation field of view; for each boundary of the ground projection range of the observation field of view, determining whether there is any point on the boundary of the ground projection range of the observation field of view where the solar altitude angle is greater than a preset solar altitude angle threshold; if so, determining that the boundary of the ground projection range of the observation field of view is affected by illumination; otherwise, determining that the boundary of the ground projection range of the observation field of view is not affected by illumination.

[0012] Furthermore, the method also includes: performing data verification and preprocessing on the orbit data and attitude data respectively; wherein, the data verification includes at least timing anomaly detection and single-point data value anomaly detection, and the preprocessing includes at least data interpolation processing.

[0013] Furthermore, after generating the laser communication link planning result based on the previous iteration process, the method further includes: generating a two-dimensional or three-dimensional spatial display map showing the relationship between the ground projection range boundary of the observation field of view and the illumination distribution based on the laser communication link planning result; and outputting the laser communication link planning result and the two-dimensional or three-dimensional spatial display map.

[0014] Furthermore, the scanning control parameters include at least the scanning range, scanning time, and movement step size.

[0015] To address the aforementioned technical problems, this invention also provides a laser communication link planning system incorporating illumination constraints, comprising: The data acquisition module is used to acquire orbital and attitude data of the satellite platform, capture camera configuration parameters, planned application scenario modes, and scan control parameters corresponding to the planned application scenario modes; wherein, the planned application scenario mode is a scan range planning mode or a scan time period planning mode, and the scan control parameters are information used to control the scanning process of the capture camera; The position simulation module is used to simulate and generate a set of position sequences of the capture camera according to the scanning control parameters, wherein each element in the set of position sequences corresponds to a motion position of the capture camera; The range calculation module is used to calculate the ground projection range boundary of the observation field of view of the capture camera at each motion position based on the position sequence set, the capture camera configuration parameters, the orbit data, and the attitude data. The illumination judgment module is used to determine whether the boundary of the ground projection range of each observation field is affected by illumination based on preset illumination constraints. The iterative calculation module is used to stop the iteration and generate the laser communication link planning result based on the previous iteration when there is a boundary of the ground projection range of the observation field of view affected by illumination; otherwise, it adjusts the scanning range or scanning time in the scanning control parameters based on the planning application scenario mode and returns to the position simulation module.

[0016] To address the aforementioned technical problems, the present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the laser communication link planning method with integrated illumination constraints as described above.

[0017] To address the aforementioned technical problems, the present invention also provides a non-transitory computer-readable storage medium storing computer instructions for causing a computer to execute a laser communication link planning method incorporating illumination constraints as described above. Attached Figure Description

[0018] Figure 1 This is a flowchart of a laser communication link planning method incorporating illumination constraints according to the present invention; Figure 2 This is a schematic diagram of the camera motion position sequence captured by the present invention; Figure 3 This is a spatial representation of the ground projection results of the camera motion capture of the present invention; Figure 4 This is a schematic diagram of a laser communication link planning system that incorporates illumination constraints according to the present invention; Figure 5 This is a schematic diagram of an electronic device according to the present invention. Detailed Implementation

[0019] The principles and features of the present invention are described below. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0020] As mentioned earlier, existing laser communication link planning methods often focus on optimizing parameters such as link transmission rate and link loss, neglecting illumination constraints, especially the impact of the ground background optical environment on the satellite acquisition camera's acquisition capability, initial on-orbit pointing identification, and coarse tracking anti-interference. This results in the planned link failing to achieve fast and accurate ground-transmitted beam acquisition in complex actual lighting conditions. Therefore, to solve the above problems, improve the success rate and timeliness of link acquisition, overcome the limitations of existing link planning methods, and meet the engineering application requirements of Earth-Moon space laser communication, it is urgent to design a laser communication link planning system and method that integrates illumination constraints. This system should combine the acquisition camera's field of view with the changes in Earth's dawn and dusk lighting to avoid the problem of misjudgment and missed detection by the on-orbit acquisition camera caused by strong solar background noise during the day.

[0021] Example 1 Based on this, such as Figures 1 to 3 As shown, this embodiment provides a laser communication link planning method that incorporates illumination constraints, including: S1. Acquire orbital and attitude data of the satellite platform, capture camera configuration parameters, plan application scenario modes, and corresponding scan control parameters for the planned application scenario modes; wherein, the planned application scenario mode is either a scan range planning mode or a scan time period planning mode, and the scan control parameters are information used to control the scanning process of the capture camera.

[0022] S2. Based on the scanning control parameters, simulate and generate a set of position sequences for the capture camera. Each element in the set of position sequences corresponds to a motion position of the capture camera.

[0023] S3. Based on the set of position sequences, the camera configuration parameters, the orbit data, and the attitude data, calculate the ground projection range boundary of the observation field of view of the camera at each motion position.

[0024] S4. Based on the preset illumination constraints, determine whether the boundary of the ground projection range of each observation field is affected by illumination.

[0025] S5. When there is a boundary of the ground projection range of the observation field of view affected by illumination, stop the iteration and generate the laser communication link planning result based on the previous iteration process; otherwise, adjust the scanning range or scanning time in the scanning control parameters based on the planning application scenario mode, and return to step S2.

[0026] This method acquires satellite orbital attitude data and acquisition camera configuration parameters, and combines these with scan control parameters to generate a motion position sequence. It then calculates the boundary of the ground projection range of the observation field of view and assesses the impact of illumination. If illumination interference is present, the iteration stops and the previous planning result is output; otherwise, the scan range or scan time is adjusted according to the planning mode, and iteration continues. This method effectively avoids the problem of misjudgment and missed judgment caused by ground background light entering the acquisition camera, and avoids interference from strong solar background noise on on-orbit acquisition performance. Furthermore, it supports two application scenarios: scan range planning mode and scan time period planning mode, which can predict reasonable scan ranges or scan time periods respectively. This provides a flexible and reliable option for laser communication link planning, significantly improving the ability of satellite-to-ground laser communication to quickly and accurately acquire ground-embedded beams in complex lighting environments, making it particularly suitable for lunar space and deep space laser communication missions.

[0027] Specifically, the first step is to obtain the configuration parameters. The application scenario planning mode can be either scan range planning mode or scan time period planning mode, which can be selected based on actual usage requirements. The scan range planning mode optimizes the camera's scan range by gradually expanding it and assessing the impact of illumination at a fixed scan start time, ultimately determining a maximum scan range that satisfies the illumination constraints. This mode is suitable for scenarios where, given the known start time of the task, it is desirable to maximize the scan coverage area to improve the capture probability.

[0028] The scanning period planning mode is characterized by optimizing the camera's working hours. Under a fixed scanning range, it determines the available scanning period that meets the lighting constraints by progressively shifting the scan start time and successively assessing the impact of illumination. This mode is suitable for scenarios where the required scanning range is known, and it is desirable to avoid periods of illumination interference and select the optimal working window.

[0029] Optionally, in an embodiment, the scan control parameters include at least the scan range, scan time, and movement step size.

[0030] When the application scenario planning mode is scan range planning mode, the parameter configuration includes: whether to enable mode identifier, scan start time, azimuth start scan range, pitch start scan range, pitch movement step size, azimuth movement step size, number of iterations, and planning result path.

[0031] For example, the configuration is as follows: the mode identifier is set to "Yes"; the scan start time combined with the task scheduling can be configured as "2026-02-12 04:30:00.000 (UTC)"; the azimuth start scan range is "0.2 degrees"; the elevation start scan range is "0.2 degrees"; the azimuth movement step size is "0.1 degrees"; the elevation movement step size is "0.1 degrees"; the number of iterations is "10"; and the planning result path is "D:\temp1".

[0032] When the planning application scenario mode is the scanning period planning mode, the parameter configuration includes: whether to enable mode identifier, calculation start time, calculation end time, azimuth scan planning range, pitch scan planning range, pitch movement step size, azimuth movement step size, iteration time step size, and planning result path.

[0033] For example, the configuration is as follows: The mode enable flag is set to "Yes"; the calculation start time combined with task scheduling can be configured as "2026-02-12 04:30:00.000 (UTC)"; the calculation end time combined with task scheduling can be configured as "2026-02-12 06:30:00.000 (UTC)"; the azimuth start scan range is "0.2 degrees"; the elevation start scan range is "0.2 degrees"; the azimuth movement step is "0.1 degrees"; the elevation movement step is "0.1 degrees"; the iteration time step (des) is "600"; and the planning result path is "D:\temp2".

[0034] Orbital data describes the satellite's trajectory in space, including at least its position and velocity. Attitude data describes the satellite's pointing state in space; in this embodiment, attitude data specifically refers to simulated data of the satellite pointing at the target laser station. In practical use, satellite data sources (including orbital and attitude data source configurations) can be pre-configured, i.e., the data access method can be set, such as specifying the file configuration path when receiving offline files. By reading the specified batch of orbital and attitude data from the satellite data source configuration, the satellite platform's orbital and attitude data can be obtained.

[0035] Optionally, in the embodiments, the method further includes: performing data verification and preprocessing on the orbit data and attitude data respectively; wherein, data verification includes at least timing anomaly detection and single-point data value anomaly detection, and preprocessing includes at least data interpolation processing.

[0036] The acquired orbital and attitude data also require data verification and preprocessing. In some possible implementations, the acquired satellite platform orbital and attitude data undergo quality verification and data preprocessing, including detecting for timing anomalies and single-point data value anomalies in the orbital and attitude data, and preprocessing data with timing mismatches or interpolation requirements.

[0037] Based on the configured initial azimuth and elevation scan range, and azimuth and elevation movement step size of the capture camera, a set of position sequences along the current capture camera's motion path is simulated and generated. Specifically, the simulation of the capture camera's motion position sequence can employ various methods, such as rectangular frame scanning or helical matrix scanning. Taking the rectangular frame method as an example... Figure 2 The diagram illustrates a position sequence of a camera motion path, showing the rectangular motion trajectory of the camera motor. The set of position sequences along the camera motion path consists of the azimuth and pitch angle values ​​of the camera motor, denoted as (fw, fy), where fw represents the azimuth angle value and fy represents the pitch angle value.

[0038] Optionally, in an embodiment, the ground projection range boundary of the observation field of view of the capture camera at each motion position is calculated based on the set of position sequences, the capture camera configuration parameters, the orbit data, and the attitude data. This includes: calculating the direction of the central optical axis of the capture camera at each motion position based on the set of position sequences, the installation matrix and the nominal principal optical axis vector in the capture camera configuration parameters; and calculating the ground projection range boundary of the observation field of view of the capture camera at each motion position based on the direction of the central optical axis of the capture camera at each motion position, the camera field of view range in the capture camera configuration parameters, the orbit data, and the attitude data.

[0039] The main configuration parameters of the acquisition camera include the installation matrix, nominal principal optical axis vector, camera field of view, and acquisition camera motor zero-position code values ​​(including motor azimuth zero-position code values ​​and motor pitch zero-position code values). The installation matrix is ​​a matrix describing the fixed transformation relationship between the acquisition camera coordinate system and the satellite body coordinate system. The parameters of the acquisition camera are determined at the factory and calibrated on the ground before entering orbit, and are considered fixed values ​​by default. At the same time, the parameters can also be corrected by on-orbit calibration based on the influence of factors such as the orbital environment and the on-orbit thermal environment.

[0040] For example, based on the design of the acquisition camera relative to the satellite, the installation matrix is ​​configured as "0,0,1,0,-1,0,1,0,0", the azimuth zero-position code value of the acquisition camera motor is set to "y0", and the elevation zero-position code value of the acquisition camera motor is set to "x0". Furthermore, the target laser station information also needs to be configured, including the laser station name, longitude, latitude, and altitude.

[0041] The nominal principal optical axis vector represents the theoretically designed unit vector of the principal optical axis direction in the camera's own coordinate system. It is associated with the camera's coordinate system design and is usually set to (1,0,0). The camera's field of view represents the size of the field of view angle of the capturing camera.

[0042] Optionally, in an embodiment, the central optical axis pointing of the capture camera at each motion position is calculated based on the position sequence set, the mounting matrix in the capture camera configuration parameters, and the nominal principal optical axis vector. This includes: for each motion position, calculating the central optical axis pointing of the capture camera at the motion position using a first formula based on the azimuth angle value fw and pitch angle value fy corresponding to the motion position in the position sequence set, the mounting matrix in the capture camera configuration parameters, and the nominal principal optical axis vector; wherein the first formula is: ; in, The direction of the central optical axis; To install the matrix; The nominal principal optical axis vector; For rotation matrix, The expression is: .

[0043] Based on the set of camera position sequences and the camera installation matrix, the central optical axis direction at each movement position is calculated sequentially. The central optical axis direction refers to the direction relative to the satellite's coordinate system. In some possible implementations, = (1, 0, 0). Combined Figure 2 The simulated sequence of captured camera motion positions can be obtained as (fw, fy), and then... , This represents the matrix transformation amount resulting from rotation azimuth and pitch.

[0044] Based on the direction of the central optical axis at each moving position of the capture camera, combined with the current orbital data, attitude data, and camera field of view, the boundary of the ground projection range of the current camera's field of view is calculated to obtain the intersection range between the camera's field of view (FOV) and the Earth's surface. One calculation method is to use the field of view boundary point calculation, obtained by spatially geometrically intersecting the camera's field of view pyramid with the Earth model; this method is relatively mature. As an optional implementation, secondary development based on the Satellite Tool Kit (STK) can be used to call its Pattern Intersection Extremals interface to obtain the latitude and longitude information of the projection range boundary points. The calculation results of the ground projection range of the capture camera's field of view can be found in [reference needed]. Figure 3 In the figure, the yellow dot is the projection position of the central optical axis on the ground, the blue box is the boundary of the ground projection range of the field of view of the capture camera, and JGZ is the ground laser station.

[0045] Optionally, in an embodiment, determining whether the boundaries of the ground projection range of each observation field of view are affected by illumination based on preset illumination constraints includes: calculating the solar altitude angle on the boundary of the ground projection range of each observation field of view; for each boundary of the ground projection range of the observation field of view, determining whether there is a point on the boundary of the ground projection range of the observation field of view with a solar altitude angle greater than a preset solar altitude angle threshold; if so, determining that the boundary of the ground projection range of the observation field of view is affected by illumination; otherwise, determining that the boundary of the ground projection range of the observation field of view is not affected by illumination.

[0046] Based on the captured camera's movement position pointing to the corresponding ground projection range boundary, the solar altitude angle at the projection range boundary is calculated. Calculating the solar altitude angle at any location on the Earth's surface at a given time is a mature technology in this field. In this embodiment, based on the latitude and longitude information of the aforementioned obtained field-of-view ground projection range boundary point, combined with the current epoch time, the solar altitude angle at that moment can be obtained through various methods. As an optional implementation, STK is used for secondary development, calling its solar altitude angle calculation function to obtain the solar altitude angle information at that moment.

[0047] For each observation field of view's ground projection range boundary, combined with the illumination constraint threshold, it is determined whether this ground projection range is affected. If there is a boundary point larger than the illumination constraint solar altitude angle threshold, then the moving position of the acquisition camera is affected by illumination, and the initially set scanning range is unreasonable and too large.

[0048] In some possible embodiments, if the currently selected planning application scenario mode is the scanning range planning mode, when there is no illumination, the iterative calculation is increased by one, and the above steps of simulating the motion position sequence of the capture camera, calculating the center optical axis of the capture camera, and judging the illumination effect of the ground projection range are continued until illumination affects the process, at which point the process exits.

[0049] For the scan range planning mode, when unaffected by illumination, the scan range in the scan control parameters corresponding to this iteration is adjusted. For example, the azimuth starting scan range is adjusted from 0.2 degrees to 0.3 degrees, and the elevation starting scan range is adjusted from 0.2 degrees to 0.3 degrees. Then, based on the adjusted scan control parameters, steps such as simulating the camera motion position sequence, calculating the center optical axis pointing of the camera, and interpreting the illumination influence of the ground projection range are performed.

[0050] Furthermore, in this embodiment, a set number of iterations is provided, for example, 10. If the number of iterations is reached but the system remains unaffected by illumination, the iteration stops, and a laser communication link planning result is generated based on the last iteration. By setting the number of iterations, infinite iterations are prevented, and computational overhead is controlled.

[0051] In some possible implementations, if the currently selected planning application scenario mode is the scanning period planning mode, when there is no illumination, the iteration time step is increased once, and the above steps of simulating the motion position sequence of the capture camera, calculating the center optical axis of the capture camera, and judging the illumination effect of the ground projection range are continued until illumination affects the process, at which point the process exits.

[0052] For the scanning period planning mode, when unaffected by illumination, the scanning time in the scanning control parameters corresponding to this iteration is adjusted. For example, the calculation start time is adjusted from 2026-02-12 04:30:00.000 (UTC) to 2026-02-12 04:40:00.000 (UTC). Then, based on the adjusted scanning control parameters, steps such as simulating the camera motion position sequence, calculating the center optical axis pointing of the camera, and interpreting the illumination influence of the ground projection range are performed.

[0053] In each iteration, the orbital and attitude data used are those corresponding to the current time window. Therefore, for the iterative process of the scanning time period planning mode, after adjusting the time, the corresponding orbital and attitude data are also updated compared to the previous iteration.

[0054] Furthermore, in this embodiment, a calculation end time is set. If the calculation end time is reached but the system is still unaffected by light, the iteration stops, indicating that the time from the initially set calculation start time to the calculation end time is all available.

[0055] The results of laser communication link planning typically include a spatiotemporal planning status table and process log information. The spatiotemporal planning status table contains information such as planning time, scanning range, and whether it is affected by illumination.

[0056] Optionally, in the embodiments, after generating the laser communication link planning results based on the previous iteration process, the method further includes: generating a two-dimensional or three-dimensional spatial display map showing the relationship between the ground projection range boundary of the observation field of view and the illumination distribution based on the laser communication link planning results; and outputting the laser communication link planning results and the two-dimensional or three-dimensional spatial display map.

[0057] In some possible implementations, the two-dimensional display effect is as follows: Figure 3 As shown, the boundaries of the projection area and the terminator line can be seen.

[0058] In summary, this method combines the field of view of the acquisition camera with changes in Earth's daytime and evening illumination to avoid misjudgments and omissions caused by strong solar background noise during the day. Furthermore, this invention provides a scanning range planning mode to predict a reasonable scanning range for the satellite acquisition camera, and a scanning time period planning mode to predict a reasonable scanning time period, offering flexible application options for laser communication link planning.

[0059] Example 2 like Figure 4 As shown, this embodiment provides a laser communication link planning system 200 that integrates illumination constraints, including: The data acquisition module 201 is used to acquire orbital and attitude data of the satellite platform, capture camera configuration parameters, planned application scenario mode, and scan control parameters corresponding to the planned application scenario mode; wherein, the planned application scenario mode is either a scan range planning mode or a scan time period planning mode, and the scan control parameters are information used to control the scanning process of the capture camera. The position simulation module 202 is used to simulate and generate a set of position sequences of the capture camera according to the scanning control parameters, wherein each element in the set of position sequences corresponds to a motion position of the capture camera; The range calculation module 203 is used to calculate the ground projection range boundary of the observation field of view of the capture camera at each motion position based on the position sequence set, capture camera configuration parameters, orbit data and attitude data. The illumination judgment module 204 is used to determine whether the boundary of the ground projection range of each observation field is affected by illumination based on preset illumination constraints. The iterative calculation module 205 is used to stop the iteration and generate the laser communication link planning result based on the previous iteration process when there is a boundary of the ground projection range of the observation field of view affected by illumination; otherwise, it adjusts the scanning range or scanning time in the scanning control parameters based on the planning application scenario mode and returns to the position simulation module 202.

[0060] Optionally, in an embodiment, the range calculation module 203 includes: The central optical axis pointing calculation unit is used to calculate the central optical axis pointing of the capture camera at each motion position based on the position sequence set, the installation matrix in the capture camera configuration parameters and the nominal principal optical axis vector. The boundary calculation unit is used to calculate the ground projection range boundary of the observation field of view of the capture camera at each motion position based on the direction of the central optical axis of the capture camera at each motion position, the camera field of view range in the capture camera configuration parameters, the orbit data, and the attitude data.

[0061] Optionally, in an embodiment, the central optical axis pointing calculation unit includes: The central optical axis pointing calculation subunit is used to calculate the central optical axis pointing of the capture camera at each motion position, based on the azimuth angle value fw and pitch angle value fy corresponding to the motion position in the position sequence set, the mounting matrix in the capture camera configuration parameters, and the nominal principal optical axis vector, using a first formula; wherein the first formula is: ; in, The direction of the central optical axis; To install the matrix; The nominal principal optical axis vector; For rotation matrix, The expression is: .

[0062] Optionally, in this embodiment, the illumination determination module 204 includes: The solar altitude angle calculation unit is used to calculate the solar altitude angle on the boundary of the ground projection range of each observation field of view; The illumination determination unit is used to determine whether there is any point on the ground projection range boundary of the observation field that has a solar altitude angle greater than a preset solar altitude angle threshold. If it does, the boundary of the ground projection range of the observation field is determined to be affected by illumination; otherwise, the boundary of the ground projection range of the observation field is determined not to be affected by illumination.

[0063] Optionally, in an embodiment, the system further includes: The data processing module is used to perform data verification and preprocessing on orbit data and attitude data respectively; the data verification includes at least timing anomaly detection and single-point data value anomaly detection, and the preprocessing includes at least data interpolation processing.

[0064] Optionally, in an embodiment, after the iterative calculation module 205, the system further includes: The display module is used to generate a two-dimensional or three-dimensional spatial display map showing the relationship between the ground projection range boundary of the observation field of view and the illumination distribution, based on the laser communication link planning results. The results output module is used to output the laser communication link planning results and two-dimensional or three-dimensional spatial display diagrams.

[0065] Optionally, in an embodiment, the scan control parameters include at least the scan range, scan time, and movement step size.

[0066] In some embodiments, the laser communication link planning system 200 of the present invention, which integrates illumination constraints, can be implemented in a combination of hardware and software. As an example, the laser communication link planning system 200 of the present invention, which integrates illumination constraints, can be a processor in the form of a hardware decoding processor, which is programmed to execute the laser communication link planning method of the present invention. For example, the processor in the form of a hardware decoding processor can be one or more application-specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field-programmable gate arrays (FPGAs), or other electronic components.

[0067] The modules described in the embodiments of this invention can be implemented in software or hardware. The names of the modules are not, in some cases, limiting the scope of the module itself.

[0068] Example 3 like Figure 5 As shown, this embodiment provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements a laser communication link planning method that incorporates illumination constraints as described in Embodiment 1.

[0069] In other words, an electronic device according to an embodiment of the present invention may include, but is not limited to, a processor and a memory; the memory is used to store a computer program; the processor is used to execute a laser communication link planning method with integrated illumination constraints as shown in any embodiment of the present invention by calling the computer program.

[0070] In one alternative embodiment, an electronic device is provided. Figure 5 The illustrated electronic device 300 includes a processor 301 and a memory 303. The processor 301 and the memory 303 are connected, for example, via a bus 302. Optionally, the electronic device 300 may further include a transceiver 304, which can be used for data interaction between the electronic device and other electronic devices, such as sending and / or receiving data. It should be noted that in practical applications, the transceiver 304 is not limited to one type, and the structure of the electronic device 300 does not constitute a limitation on the embodiments of the present invention.

[0071] Processor 301 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this invention. Processor 301 may also be a combination that implements computational functions, such as including one or more microprocessor combinations, a combination of a DSP and a microprocessor, etc.

[0072] Bus 302 may include a path for transmitting information between the aforementioned components. Bus 302 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. Bus 302 can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 5 The bus 302 is represented by only one thick line, but this does not mean that there is only one bus or one type of bus.

[0073] The memory 303 may be a ROM (Read Only Memory) or other type of static storage device capable of storing static information and instructions, RAM (Random Access Memory) or other type of dynamic storage device capable of storing information and instructions, or an EEPROM (Electrically Erasable Programmable Read Only Memory), CD-ROM (Compact Disc Read Only Memory) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but not limited thereto.

[0074] The memory 303 is used to store application code (computer program) for executing the present invention, and its execution is controlled by the processor 301. The processor 301 is used to execute the application code stored in the memory 303 to implement the content shown in the foregoing method embodiments.

[0075] Among them, electronic devices can also be terminal devices, which can be any device that can install applications, including at least one of smartphones, tablets, laptops, desktop computers, smart speakers, smartwatches, smart TVs, and smart in-vehicle devices.

[0076] It should be noted that, Figure 5 The electronic device shown is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments of the present invention.

[0077] Example 4 This embodiment provides a non-transitory computer-readable storage medium that stores computer instructions for causing a computer to execute a laser communication link planning method incorporating illumination constraints as described in Embodiment 1.

[0078] Alternatively, the computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc read-only memory (CD-ROM), magnetic tape, a floppy disk, and an optical data storage device, etc.

[0079] In an exemplary embodiment, a computer program product or computer program is also provided, which includes computer instructions stored in a computer-readable storage medium. A processor of an electronic device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the electronic device to perform the aforementioned laser communication link planning method incorporating illumination constraints.

[0080] Computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0081] It should be understood that the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of methods and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0082] The computer-readable storage medium provided in this invention can be, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EEPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this invention, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0083] The aforementioned computer-readable storage medium carries one or more programs, which, when executed by the electronic device, cause the electronic device to perform the method shown in the above embodiments.

[0084] The above description is merely a preferred embodiment of the present invention and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of disclosure in this invention is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-disclosed concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this invention.

[0085] It should be noted that the terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and represent a limitation on a specific order or sequence. Where appropriate, the order of use for similar objects can be interchanged so that the embodiments of this application described herein can be implemented in an order other than that shown or described.

[0086] Those skilled in the art will recognize that this invention can be implemented as a system, method, or computer program product. Therefore, this invention can be specifically implemented in the following forms: it can be entirely hardware, entirely software (including firmware, resident software, microcode, etc.), or a combination of hardware and software, generally referred to herein as a "circuit," "module," or "system." Furthermore, in some embodiments, this invention can also be implemented as a computer program product contained in one or more computer-readable media, which includes computer-readable program code.

[0087] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A laser communication link planning method incorporating illumination constraints, characterized in that, include: S1. Acquire orbital and attitude data of the satellite platform, capture camera configuration parameters, plan application scenario mode, and scan control parameters corresponding to the planned application scenario mode; wherein, the planned application scenario mode is a scan range planning mode or a scan time period planning mode, and the scan control parameters are information used to control the scanning process of the capture camera; S2. Based on the scanning control parameters, simulate and generate a set of position sequences of the capture camera, where each element in the set of position sequences corresponds to a movement position of the capture camera; S3. Based on the set of position sequences, the configuration parameters of the capture camera, the orbit data, and the attitude data, calculate the ground projection range boundary of the observation field of view of the capture camera at each motion position; S4. Determine whether the boundaries of the ground projection range of each observation field are affected by illumination based on the preset illumination constraints. S5. When there is a boundary of the ground projection range of the observation field of view affected by illumination, stop the iteration and generate the laser communication link planning result based on the previous iteration process; otherwise, adjust the scanning range or scanning time in the scanning control parameters based on the planning application scenario mode, and return to step S2.

2. The laser communication link planning method with integrated illumination constraints according to claim 1, characterized in that, The step of calculating the ground projection boundary of the observation field of view of the acquisition camera at each motion position based on the position sequence set, the acquisition camera configuration parameters, the orbit data, and the attitude data includes: Based on the set of position sequences, the mounting matrix in the capture camera configuration parameters, and the nominal principal optical axis vector, calculate the direction of the central optical axis of the capture camera at each motion position; Based on the direction of the central optical axis of the capture camera at each movement position, the camera field of view in the capture camera configuration parameters, the orbit data, and the attitude data, the ground projection range boundary of the observation field of view of the capture camera at each movement position is calculated.

3. The laser communication link planning method with integrated illumination constraints according to claim 2, characterized in that, The step of calculating the central optical axis pointing of the capture camera at each motion position based on the position sequence set, the installation matrix in the capture camera configuration parameters, and the nominal principal optical axis vector includes: For each motion position, based on the azimuth angle value fw and pitch angle value fy corresponding to the motion position in the position sequence set, the installation matrix and nominal principal optical axis vector in the acquisition camera configuration parameters, the central optical axis pointing of the acquisition camera at the motion position is calculated using a first formula; wherein, the first formula is: ； in, The direction of the central optical axis; To install the matrix; The nominal principal optical axis vector; For rotation matrix, The expression is: 。 4. The laser communication link planning method with integrated illumination constraints according to claim 1, characterized in that, The determination of whether the boundaries of the ground projection range of each observation field of view are affected by illumination based on preset illumination constraints includes: Calculate the solar altitude angle at the boundary of the ground projection range of each observation field of view; For each observation field of view's ground projection range boundary, determine whether there is any point on the observation field of view's ground projection range boundary where the solar altitude angle is greater than a preset solar altitude angle threshold; if so, determine that the observation field of view's ground projection range boundary is affected by illumination; otherwise, determine that the observation field of view's ground projection range boundary is not affected by illumination.

5. The laser communication link planning method with integrated illumination constraints according to claim 1, characterized in that, Also includes: The orbital data and attitude data are respectively subjected to data verification and preprocessing; The data verification includes at least timing anomaly detection and single-point data value anomaly detection, and the preprocessing includes at least data interpolation processing.

6. The laser communication link planning method with integrated illumination constraints according to claim 1, characterized in that, After generating the laser communication link planning results based on the previous iteration, the process also includes: Based on the laser communication link planning results, a two-dimensional or three-dimensional spatial display map is generated to show the relationship between the boundary of the ground projection range of the observation field and the illumination distribution. Output the laser communication link planning results and the two-dimensional or three-dimensional spatial display diagram.

7. The laser communication link planning method with integrated illumination constraints according to claim 1, characterized in that, The scanning control parameters include at least the scanning range, scanning time, and movement step size.

8. A laser communication link planning system incorporating illumination constraints, characterized in that, include: The data acquisition module is used to acquire orbital and attitude data of the satellite platform, capture camera configuration parameters, planned application scenario modes, and scan control parameters corresponding to the planned application scenario modes; wherein, the planned application scenario mode is a scan range planning mode or a scan time period planning mode, and the scan control parameters are information used to control the scanning process of the capture camera; The position simulation module is used to simulate and generate a set of position sequences of the capture camera according to the scanning control parameters, wherein each element in the set of position sequences corresponds to a motion position of the capture camera; The range calculation module is used to calculate the ground projection range boundary of the observation field of view of the capture camera at each motion position based on the position sequence set, the capture camera configuration parameters, the orbit data, and the attitude data. The illumination judgment module is used to determine whether the boundary of the ground projection range of each observation field is affected by illumination based on preset illumination constraints. The iterative calculation module is used to stop the iteration and generate the laser communication link planning result based on the previous iteration when there is a boundary of the ground projection range of the observation field of view affected by illumination; otherwise, it adjusts the scanning range or scanning time in the scanning control parameters based on the planning application scenario mode and returns to the position simulation module.

9. An electronic device, characterized in that, The method includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements a laser communication link planning method with integrated illumination constraints as described in any one of claims 1 to 7.

10. A non-transitory computer-readable storage medium storing computer instructions, characterized in that, The computer instructions are used to cause the computer to execute the laser communication link planning method with integrated illumination constraints as described in any one of claims 1 to 7.

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