An on-orbit autonomous orbit deployment control method, system and storage medium suitable for a multi-satellite system in phased launching

Abstract

The present application relates to the on-orbit autonomous orbit deployment control method, system and storage medium suitable for multi-satellite constellation system in phased launching, the method comprises: parking mode step: the satellite is based on deployment planning information and real-time orbit state, it is judged whether the launch starting condition is satisfied, if not, keep parking mode state, if yes, execute the launch mode step; Launch mode step: the satellite judges whether the launch is completed through the autonomous orbit determination, if not, keep the launch mode state, according to target orbit height and current state, the optimal launch orbit control strategy is calculated and executed, if yes, from launch mode to phase capture mode; Phase capture mode step: the satellite judges whether the phase deviation is less than threshold through the autonomous orbit determination, if not, keep phase capture mode state, according to target phase and current state, phase acquisition orbit control strategy is calculated and executed, if yes, autonomous deployment orbit control is completed, end. Advantageous effect: realize the high autonomy of deployment process.

Description

Technical Field

[0001] This invention relates to the field of spacecraft applications, specifically to an on-orbit autonomous orbital deployment control method, system, and storage medium suitable for multi-satellite constellation systems launched in stages. Background Technology

[0002] Developing large and ultra-large multi-satellite constellation systems has become an important development direction and a significant trend in the current and future aerospace field. Limited by factors such as launch vehicle carrying capacity, launch costs, and manufacturing cycles, phased, multi-batch launches have become the mainstream choice for realizing large constellations.

[0003] After satellites are launched into their initial orbits in batches, they need to undergo a series of precise orbital maneuvers to be deployed to specific orbits defined by the constellation configuration. Currently, satellite orbit control (including orbit control during the deployment phase) mainly relies on ground-based telemetry and control systems for manual command injection and monitoring. However, with the explosive growth in constellation size, relying on ground-based telemetry and control for orbit control has significant drawbacks, including low efficiency, poor real-time performance, high costs, and reliability risks.

[0004] In the field of satellite orbit control technology, research on orbit maintenance (including orbital altitude and inclination maintenance, high-precision relative position / formation / pipeline control, etc.) is relatively mature, and some satellites already possess a certain degree of autonomous orbit maintenance capability. However, for orbit control during the deployment phase, especially in the scenario of phased deployment of large-scale constellations, existing technical solutions still rely on manual ground operation. Although there is some research on autonomous navigation or partial autonomous control, there is a lack of a complete, efficient, and robust on-orbit autonomous deployment orbit control method specifically designed for phased multi-satellite launch scenarios.

[0005] In summary, multi-satellite constellation systems represent a key development direction for enhancing the effectiveness of space applications, with phased launches being the primary method for achieving this. Current methods relying on ground-based telemetry and control for on-orbit deployment and orbit control suffer from bottlenecks such as low efficiency, poor real-time performance, high cost, and insufficient reliability when facing the demands of large-scale constellation deployments. While autonomous orbit maintenance technology has made progress, on-orbit autonomous deployment and orbit control technology for large-scale, phased constellation launch scenarios remains inadequate and urgently requires further research and breakthroughs. Summary of the Invention

[0006] This invention provides an on-orbit autonomous orbit deployment control method for multi-satellite constellation systems with phased launches, aiming to solve the above-mentioned problems and meet the urgent need for efficient, rapid, and autonomous deployment of large-scale constellations.

[0007] This invention discloses an on-orbit autonomous orbit deployment control method for a multi-satellite constellation system suitable for phased launch, comprising the following steps: Parking mode steps: In parking mode, the satellite autonomously determines whether the conditions for launching the orbital ascent are met based on deployment planning information and real-time orbital status. If not, the parking mode is maintained; if the conditions are met, the satellite switches from parking mode to orbital ascent mode and executes the orbital ascent mode steps. Ascending mode steps: In ascending mode, the satellite determines whether ascending is complete through autonomous orbit determination. If not, it maintains ascending mode and autonomously calculates the optimal ascending orbit control strategy and executes orbit control based on the target orbit altitude and current status. If completed, it switches from ascending mode to phase capture mode and executes phase capture mode steps. Phase capture mode steps: In phase capture mode, the satellite determines whether the phase deviation is less than the threshold through autonomous orbit determination. If not, it maintains the phase capture mode state, calculates the phase capture orbit control strategy autonomously based on the target phase and the current state, and executes the orbit control. If yes, the autonomous orbit control deployment is completed and the process ends.

[0008] As a further improvement of the present invention, the parking mode step includes: Step S1: Calculate the instantaneous relative phase deviation of the ascending orbit; Step S2: Calculate the longitude deviation of the ascending orbit intersection point in real time; Step S3: Determine the conditions for starting the track upgrade. If the conditions for starting the track upgrade are met, execute the track upgrade mode steps; otherwise, return to step S1.

[0009] As a further improvement of the present invention, step S1 includes: Step S11: Calculate the duration of the orbital ascent maneuver. (1) In the formula, This is the semi-major axis offset of the target track for the elevation gain. For the orbital control cycle, The planned amount of rail lifting during the rail lifting control cycle. This is the current nominal semi-major axis of the track. This is the semi-major axis of the current satellite orbit; Step S12: Calculate the relative phase (2) Will Switch to interval, This is the phase offset of the target orbit. This is the current nominal orbital latitude argument. This represents the current latitude argument of the satellite's orbit. Step S13: Calculate the relative phase change rate (3) In the formula, The gravitational constant of Earth; Step S14: Calculate the relative phase period (4) Step S15: Calculate the phase deviation from the nominal track generated during the track control process. (5); Step S16: Calculate the instantaneous relative phase positioning deviation of the ascending orbit. (6) Will Switch to Interval.

[0010] As a further improvement of the present invention, step S2 includes: Step S21: Calculate the relative ascending node longitude (7) Will Switch to interval, The right ascension of the ascending node of the current nominal orbit. The right ascension of the ascending node of the current satellite orbit; Step S22: Calculate the rate of change of relative ascending node longitude (8), In the formula, , These are the current satellite's and nominal orbit's ascending node precession rates, respectively. Step S23: Calculate the relative precession of the rising node within the relative phase period. (9); Step S24: Calculate the longitude deviation from the nominal track ascending intersection point generated during the track control process. (10) In the formula, This is the current nominal orbital eccentricity. This is the current nominal track inclination. The current satellite orbital eccentricity, The current satellite orbital inclination, The J2 band harmonic coefficient of the Earth. The Earth's reference radius; Step S25: Calculate the real-time longitude deviation of the ascending orbit relative to the ascending node. (11).

[0011] As a further improvement of the present invention, step S3 includes: The relative phase deviation of the ascending orbit is corrected. Switch to interval; If both conditions are met ,and If the conditions for starting the track upgrade are met, the track upgrade start flag is set to start, and the output is calculated according to the following formula. Then, the system switches to track upgrade mode. (12) In the formula, , These are the lower and upper limits of the phase deviation threshold for the target orbit ascent, respectively. This refers to the allowable deviation of the longitude of the relative ascending node. For satellite time, , These are the predicted start time and the predicted end time of the ascent orbit, respectively. If not satisfied ,and If the criteria for ascending the track are not met, the ascending track start flag is set to not start, and the output is calculated according to the following formula. Then, the process returns to step S1. (13) In the formula, To predict the accuracy of deployment at the ascending node, , The formula is as follows:

[0012]

[0013] In the formula, ceil represents rounding up. If the result is a positive number, it is set to 0 if the result is less than 0.

[0014] As a further improvement of the present invention, the orbital ascent mode step includes: Step 1, Check if the rail ascent is complete: The satellite obtains its current average orbital semi-major axis through autonomous orbit determination. Then calculate the semi-major axis difference using the following formula. : (14) if If the ascent is complete, the ascent completion flag is changed to "complete," and the phase capture mode steps are executed. If the threshold is set to the half-major axis offset threshold, otherwise, proceed to step 2; Step 2, Track Ascension Planning Calculation: Calculate the total time of the orbit change Specifically, it includes: Step 21: If Then calculate the amount of elevation. The formula is as follows: (15) Then, according to formula (15), the amount of rail lifting is... Calculation speed increment as follows: (twenty four) In the formula ; Calculate the total time for track changes within the track control cycle. as follows: (25); if Then proceed with the following steps; Step 22: Calculate the duration of the orbital ascent maneuver. (16); Step 23: Calculate the relative phase (17) Will Switch to interval; Step 24: Calculate the relative phase change rate (18); Step 25: Calculate the phase deviation from the nominal track generated during track control. (19); Step 26: Calculate the relative phase positioning deviation (20) Will Switch to interval; Step 27: Calculate the planned elevation gain for this project. (twenty one) In the formula, The maximum allowable lift factor, adjustment coefficient The formula is as follows: (twenty two) if Then adjust the lift amount. as follows: (twenty three) The amount of elevation from equation (23) Calculation speed increment as follows: (twenty four) In the formula ; Calculate the total time for track changes within the track control cycle. as follows: (25) In the formula For satellite quality, For electric propulsion thrust; Step 3, Orbit Control Execution: The satellite calculates the total orbit change time based on the orbit increase plan. Perform track control and return to step 1.

[0015] As a further improvement of the present invention, the phase capture mode step includes: Step a1, Phase capture complete judgment: The satellite obtains its current average intersection period through autonomous orbit determination. ,if If the acquisition is successful, the acquisition completion flag is set to "complete". At this point, the autonomous orbit control deployment is complete, and the process ends. The average intersection period, The nominal orbital intersection period, To achieve the intersection point periodicity bias threshold for phase capture, if If so, continue with the following steps; Step a2, Phase Capture Planning Calculation: Calculate the total orbit change time The details are as follows: calculate and convert it to interval, if If so, the planning phase state is reset, where The phase offset threshold for the phase capture target; if If the satellite enters the predetermined phase interval, the fine-tuning orbit change period is calculated, and the specific processing is as follows: The fine adjustment amount of the semi-major axis of the track is calculated as follows: (26) In the formula, The periodic offset threshold for the intersection point of the target capture; From the elevation quantity Calculation speed increment as follows: (twenty four) In the formula ; Calculate the total time of the orbit change as follows: (25); Step a3, Track control execution: The total track change time is calculated based on the phase capture planning. Perform track control and return to step a1.

[0016] The present invention also discloses an on-orbit autonomous orbit deployment control system suitable for multi-satellite constellation systems launched in stages, comprising: a memory, a processor, and a computer program stored in the memory, wherein the computer program is configured to implement the steps of the method described in the present invention when invoked by the processor.

[0017] The present invention also discloses a computer-readable storage medium storing a computer program configured to implement the steps of the method described in the present invention when invoked by a processor.

[0018] The beneficial effects of this invention are: 1) It significantly reduces reliance on ground-based telemetry and control. Through a closed-loop process of onboard autonomous orbit determination, planning, execution, and judgment, it achieves a high degree of autonomy in the deployment process, effectively overcoming the drawbacks of traditional manual ground operations, such as low efficiency, poor real-time performance, high cost, and high reliability risks; 2) It greatly improves deployment efficiency and speed. Closed-loop autonomous control can quickly respond to changes in orbital state and continuously optimize strategies, shortening the deployment cycle of a single satellite, which is especially suitable for the phased rapid deployment needs of large-scale constellations; 3) It enhances the robustness and reliability of the deployment process. The phased closed-loop control design can effectively cope with single control deviations or environmental disturbances, and ensures that the final deployment accuracy requirements are met through iterative calculation and repeated execution; 4) It reduces constellation construction and operation costs, reduces reliance on a large ground-based telemetry and control system, and saves manpower and operating costs. Attached Figure Description

[0019] Figure 1 This is a flowchart of the on-orbit autonomous orbit deployment and control method of the present invention. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0021] This invention discloses an on-orbit autonomous orbit deployment control method suitable for multi-satellite constellation systems launched in stages. This method enables on-orbit autonomous orbit deployment control of satellites to be completed in three modes: parking mode, orbit ascent mode, and phase capture mode, as detailed below: Parking mode steps: In parking mode, the satellite autonomously determines whether the conditions for launching the orbital ascent are met based on the deployment planning information and real-time orbital status. If the conditions are not met, the satellite remains in parking mode. If the conditions are met, the satellite switches from parking mode to orbital ascent mode and executes the orbital ascent mode steps. Ascending mode steps: In ascending mode, the satellite determines whether ascending is complete through autonomous orbit determination. If not, it maintains ascending mode and autonomously calculates the optimal ascending orbit control strategy and executes orbit control based on the target orbit altitude and current status. If completed, it switches from ascending mode to phase capture mode and executes phase capture mode steps. Phase capture mode steps: In phase capture mode, the satellite determines whether the phase deviation is less than the threshold through autonomous orbit determination. If not, it maintains the phase capture mode state, calculates the phase capture orbit control strategy autonomously based on the target phase and the current state, and executes the orbit control. If yes, the autonomous orbit control deployment is completed and the process ends.

[0022] The parking mode procedure includes: Step S1: Parking mode - Calculate the real-time relative phase deviation of the lifting rail; Step S11: Calculate the duration of the orbital ascent maneuver. (1) In the formula, This is the semi-major axis offset of the target track for the elevation gain. For the orbital control cycle, The planned amount of rail lifting during the rail lifting control cycle. This is the current nominal semi-major axis of the track. This is the semi-major axis of the current satellite orbit; Step S12: Calculate the relative phase (2) Will Switch to interval, This is the phase offset of the target orbit. This is the current nominal orbital latitude argument. This represents the current latitude argument of the satellite's orbit. Step S13: Calculate the relative phase change rate (3) In the formula, The gravitational constant of Earth; Step S14: Calculate the relative phase period (4) Step S15: Calculate the phase deviation from the nominal track generated during the track control process. (5); Step S16: Calculate the instantaneous relative phase positioning deviation of the ascending orbit. (6) Will Switch to Interval.

[0023] Step S2: Calculate the longitude deviation of the ascending orbit intersection point in real time; Step S21: Calculate the relative ascending node longitude (7) Will Switch to interval, The right ascension of the ascending node of the current nominal orbit. The right ascension of the ascending node of the current satellite orbit; Step S22: Calculate the rate of change of relative ascending node longitude (8), In the formula, , These are the current satellite's and nominal orbit's ascending node precession rates, respectively. Step S23: Calculate the relative precession of the rising node within the relative phase period. (9); Step S24: Calculate the longitude deviation from the nominal track ascending intersection point generated during the track control process. (10) In the formula, This is the current nominal orbital eccentricity. This is the current nominal track inclination. The current satellite orbital eccentricity, The current satellite orbital inclination, The J2 band harmonic coefficient of the Earth. The Earth's reference radius; Step S25: Calculate the real-time longitude deviation of the ascending orbit relative to the ascending node. (11).

[0024] Step S3: Determine the conditions for starting the track upgrade. If the conditions for starting the track upgrade are met, execute the track upgrade mode steps; otherwise, return to step S1.

[0025] Step S3 includes: The relative phase deviation of the ascending orbit is corrected. Switch to interval; If both conditions are met ,and If the conditions for starting the track upgrade are met, the track upgrade start flag is set to start, and the output is calculated according to the following formula. Then, the track upgrade mode is entered. (12) In the formula, , These are the lower and upper limits of the phase deviation threshold for the target orbit ascent, respectively. This refers to the allowable deviation of the longitude of the relative ascending node. For satellite time, , These are the predicted start time and the predicted end time of the ascent orbit, respectively. If not satisfied ,and If the criteria for ascending the orbital are not met, the ascending orbital start flag is set to not start, and the output is calculated according to the following formula. Then, the process returns to step S1: (13) In the formula, To predict the accuracy of deployment at the ascending node, , The formula is as follows:

[0026]

[0027] In the formula, ceil represents rounding up. If the result is a positive number, it is set to 0 if the result is less than 0.

[0028] Ascend mode Step 1, Check if the rail ascent is complete: The satellite obtains its current average orbital semi-major axis through autonomous orbit determination. Then calculate the semi-major axis difference using the following formula. : (14) if If the ascent is complete, the ascent completion flag is changed to "complete," and the phase capture mode steps are executed. If the threshold is set to the half-major axis offset threshold, otherwise, proceed to step 2; Step 2, calculate the track elevation plan; Calculate the total time of the orbit change Specifically, it includes: Step 21: If Then calculate the amount of elevation. The formula is as follows: (15) Then, according to formula (15), the amount of rail lifting is... Calculation speed increment as follows: (twenty four) In the formula ; Calculate the total time for track changes within the track control cycle. as follows: (25); if Then proceed with the following steps; Step 22: Calculate the duration of the orbital ascent maneuver plan. (16); Step 23: Calculate the relative phase (17) Will Switch to interval; Step 24: Calculate the relative phase change rate (18); Step 25: Calculate the phase deviation from the nominal track generated during track control. (19); Step 26: Calculate the relative phase positioning deviation (20) Will Switch to interval; Step 27: Calculate the planned elevation gain for this project. (twenty one) In the formula, The maximum allowable lift factor, adjustment coefficient The formula is as follows: (twenty two) if Then adjust the lift amount. as follows: (twenty three) The amount of elevation from equation (23) Calculation speed increment as follows: (twenty four) In the formula .

[0029] Calculate the total time for track changes within the track control cycle. as follows: (25) In the formula For satellite quality, For electric propulsion thrust; Step 3, Orbit Control Execution: The satellite calculates the total orbit change time based on the orbit increase plan. Perform track control and return to step 1.

[0030] Phase capture mode: Step a1, Phase capture complete judgment: The satellite obtains its current average intersection period through autonomous orbit determination. ,if If the acquisition is successful, the acquisition completion flag is set to "complete". At this point, the autonomous orbit control deployment is complete, and the process ends. The average intersection period, The nominal orbital intersection period, To achieve the intersection point periodicity bias threshold for phase capture, if If so, continue with the following steps; Step a2, Phase Capture Planning Calculation: Calculate the total orbit change time The details are as follows: calculate and convert it to interval, if If so, the planning phase state is reset, where The phase offset threshold for the phase capture target; if If the satellite enters the predetermined phase interval, the fine-tuning orbit change period is calculated, and the specific processing is as follows: The fine adjustment amount of the semi-major axis of the track is calculated as follows: (26) In the formula, The periodic offset threshold for the intersection point of the target capture; From the elevation quantity Calculation speed increment as follows: (twenty four) In the formula ; Calculate the total time of the orbit change as follows: (25); Step a3, Track control execution: The total track change time is calculated based on the phase capture planning. Perform track control and return to step a1.

[0031] The present invention also discloses an on-orbit autonomous orbit deployment control system suitable for multi-satellite constellation systems launched in stages, comprising: a memory, a processor, and a computer program stored in the memory, wherein the computer program is configured to implement the steps of the method described in the present invention when invoked by the processor.

[0032] The present invention also discloses a computer-readable storage medium storing a computer program configured to perform the steps of the method described in the present invention when invoked by a processor.

[0033] The above description, in conjunction with specific preferred embodiments, provides a further detailed explanation of the present invention. It should not be construed that the specific implementation of the present invention is limited to these descriptions. For those skilled in the art, various simple deductions or substitutions can be made without departing from the concept of the present invention, and all such modifications and substitutions should be considered within the scope of protection of the present invention.

Claims

1. An on-orbit autonomous orbit deployment control method for a multi-satellite constellation system suitable for phased launch, characterized in that, This includes performing the following steps: Parking mode steps: In parking mode, the satellite autonomously determines whether the conditions for launching the orbital ascent are met based on deployment planning information and real-time orbital status. If not, the parking mode is maintained; if the conditions are met, the satellite switches from parking mode to orbital ascent mode and executes the orbital ascent mode steps. Ascending mode steps: In ascending mode, the satellite determines whether ascending is complete through autonomous orbit determination. If not, it maintains ascending mode and autonomously calculates the optimal ascending orbit control strategy and executes orbit control based on the target orbit altitude and current status. If completed, it switches from ascending mode to phase capture mode and executes phase capture mode steps. Phase capture mode steps: In phase capture mode, the satellite determines whether the phase deviation is less than the threshold through autonomous orbit determination. If not, it maintains the phase capture mode state, calculates the phase capture orbit control strategy autonomously based on the target phase and the current state, and executes the orbit control. If yes, the autonomous orbit control deployment is completed and the process ends.

2. The on-orbit autonomous orbit deployment and control method according to claim 1, characterized in that, The parking mode step includes: Step S1: Calculate the instantaneous relative phase deviation of the ascending orbit; Step S2: Calculate the longitude deviation of the ascending intersection point in real time; Step S3: Determine the conditions for starting the track upgrade. If the conditions for starting the track upgrade are met, execute the track upgrade mode steps; otherwise, return to step S1.

3. The on-orbit autonomous orbit deployment and control method according to claim 1, characterized in that, Step S1 includes: Step S11: Calculate the duration of the orbital ascent maneuver. (1) In the formula, This is the semi-major axis offset of the target track for the elevation gain. For the orbital control cycle, The planned amount of rail lifting during the rail lifting control cycle. This is the current nominal semi-major axis of the track. This is the semi-major axis of the current satellite orbit; Step S12: Calculate the relative phase (2) Will Switch to interval, This is the phase offset of the target orbit. This is the current nominal orbital latitude argument. This represents the current latitude argument of the satellite's orbit. Step S13: Calculate the relative phase change rate (3) In the formula, The gravitational constant of Earth; Step S14: Calculate the relative phase period (4) Step S15: Calculate the phase deviation from the nominal track generated during the track control process. (5)； Step S16: Calculate the instantaneous relative phase positioning deviation of the ascending orbit. (6) Will Switch to Interval.

4. The on-orbit autonomous orbit deployment and control method according to claim 3, characterized in that, Step S2 includes: Step S21: Calculate the relative ascending node longitude (7) Will Switch to interval, The right ascension of the ascending node of the current nominal orbit. The right ascension of the ascending node of the current satellite orbit; Step S22: Calculate the rate of change of relative ascending node longitude (8)， In the formula, , These are the current satellite's and nominal orbit's ascending node precession rates, respectively. Step S23: Calculate the relative precession of the rising node within the relative phase period. (9)； Step S24: Calculate the longitude deviation from the nominal track ascending intersection point generated during the track control process. (10) In the formula, This is the current nominal orbital eccentricity. This is the current nominal track inclination. The current satellite orbital eccentricity, The current satellite orbital inclination, The J2 band harmonic coefficient of the Earth. The Earth's reference radius; Step S25: Calculate the real-time longitude deviation of the ascending orbit relative to the ascending node. (11)。 5. The on-orbit autonomous orbit deployment and control method according to claim 4, characterized in that, Step S3 includes: The relative phase deviation of the ascending orbit is corrected. Switch to interval; If both conditions are met ,and If the conditions for starting the track upgrade are met, the track upgrade start flag is set to start, and the output is calculated according to the following formula. Then, the track upgrade mode is entered. (12) In the formula, , These are the lower and upper limits of the phase deviation threshold for the target orbit ascent, respectively. This refers to the allowable deviation of the longitude of the relative ascending node. For satellite time, , These are the predicted start time and the predicted end time of the ascent orbit, respectively. If not satisfied ,and If the criteria for raising the orbit are not met, the orbit raising start flag is set to not start, and the output is calculated according to the following formula. Then, the process returns to step S1. (13) In the formula, To predict the accuracy of deployment at the ascending node, , The formula is as follows: In the formula, ceil represents rounding up. If the result is a positive number, it is set to 0 if the result is less than 0.

6. The on-orbit autonomous orbit deployment control method according to claim 1, characterized in that, The orbital ascent mode step includes: Step 1, Check if the track ascent is complete: The satellite obtains its current average orbital semi-major axis through autonomous orbit determination. Then calculate the semi-major axis difference using the following formula. : (14) if If the ascent is complete, the ascent completion flag is changed to "complete," and the phase capture mode steps are executed. If the threshold is set to the half-major axis offset threshold, otherwise, proceed to step 2; Step 2, Track Ascension Planning Calculation: Calculate the total time of the orbit change Specifically, it includes: Step 21: If Then calculate the amount of elevation. The formula is as follows: (15) Then, according to formula (15), the amount of rail lifting is... Calculation speed increment as follows: (24) In the formula ; Calculate the total time for track changes within the track control cycle. as follows: (25)； if Then proceed with the following steps; Step 22: Calculate the duration of the orbital ascent maneuver. (16)； Step 23: Calculate the relative phase (17) Will Switch to interval; Step 24: Calculate the relative phase change rate (18)； Step 25: Calculate the phase deviation from the nominal track generated during track control. (19)； Step 26: Calculate the relative phase positioning deviation (20) Will Switch to interval; Step 27: Calculate the planned elevation gain for this project. (21) In the formula, The maximum allowable lift factor, adjustment coefficient The formula is as follows: (22) if Then adjust the lift amount. as follows: (23) The amount of elevation from equation (23) Calculation speed increment as follows: (24) In the formula ; Calculate the total time for track changes within the track control cycle. as follows: (25) In the formula For satellite quality, For electric propulsion thrust; Step 3, Orbit Control Execution: The satellite calculates the total orbit change time based on the orbit increase plan. Perform track control and return to step 1.

7. The on-orbit autonomous orbit deployment and control method according to claim 6, characterized in that, The phase capture mode step includes: Step a1, Phase capture complete judgment: The satellite obtains its current average intersection period through autonomous orbit determination. ,if If the acquisition is successful, the acquisition completion flag is set to "complete". At this point, the autonomous orbit control deployment is complete, and the process ends. The average intersection period, The nominal orbital intersection period, To achieve the intersection point periodicity bias threshold for phase capture, if If so, continue with the following steps; Step a2, Phase Capture Planning Calculation: Calculate the total orbit change time The details are as follows: calculate and convert it to interval, if If so, the planning phase state is reset, where The phase offset threshold for the phase capture target; if If the satellite enters the predetermined phase interval, the fine-tuning orbit change period is calculated, and the specific processing is as follows: The fine adjustment amount of the semi-major axis of the track is calculated as follows: (26) In the formula, The periodic offset threshold for the intersection point of the target capture; From the elevation quantity Calculation speed increment as follows: （24） In the formula ; Calculate the total time of the orbit change as follows: （25）； Step a3, Track control execution: The total track change time is calculated based on the phase capture planning. Perform track control and return to step a1.

8. An on-orbit autonomous orbit deployment control system suitable for multi-satellite constellation systems launched in stages, characterized in that, include: A memory, a processor, and a computer program stored on the memory, the computer program being configured to implement the steps of the method of any one of claims 1-7 when invoked by the processor.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program configured to implement the steps of the method according to any one of claims 1-7 when invoked by a processor.

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