An inter-satellite dynamic monitoring device for orbital transfer vehicles

Abstract

This application discloses a cooperative control method and apparatus for inter-satellite monitoring. The cooperative control method includes: transmitting orbit change commands to an orbit change control system based on positioning technology to control an orbit transfer vehicle to change its orbit until the relative state between the orbit transfer vehicle and the target satellite reaches a preset relative state. An inter-satellite monitoring device is mounted on the orbit transfer vehicle and is used to monitor the target satellite. The method further includes: transmitting orbit change commands from the inter-satellite monitoring device to the orbit change control system to control the orbit transfer vehicle to change its orbit until the content monitored by the inter-satellite monitoring device for the target satellite meets a preset orbit change termination condition; and transmitting a stop orbit change command to the orbit change control system to control the inter-satellite monitoring device to monitor the target satellite. This improves the response speed of inter-satellite monitoring.

Description

Technical Field

[0001] This application relates to the field of inter-satellite monitoring technology, and more specifically, to a collaborative control method and apparatus for inter-satellite monitoring. Background Technology

[0002] Inter-satellite monitoring devices (ISMs) are specialized instruments mounted on orbit transfer vehicles (ORVs) for close-range dynamic monitoring of target satellites. In current low Earth orbit (LEO) missions (e.g., 200-2000 km), the demand for ISMs (such as target satellite status diagnosis, fault diagnosis, and orbit coordination) is increasing. ORVs, with their orbital maneuvering capabilities at altitudes of 200-2000 km and inclinations of 3-10°, have become the core carriers for mobile close-range monitoring. However, existing ISMs have significant technical limitations. The ISM and the ORV's orbital maneuvering control systems operate independently, lacking a coordination mechanism. After approaching the target satellite, manual parameter adjustments are required (taking over 10 minutes), hindering rapid response. Therefore, improving the response speed of ISMs has become a key technical problem that needs to be solved in this field. Summary of the Invention

[0003] In view of this, this application proposes a cooperative control method and apparatus for inter-satellite monitoring to improve the response speed of inter-satellite monitoring.

[0004] Firstly, this application provides a cooperative control method for inter-satellite monitoring. The method includes: transmitting a trajectory change command to a trajectory change control system based on positioning technology to control an orbit transfer vehicle to change its trajectory until the relative state between the orbit transfer vehicle and the target satellite reaches a preset relative state; wherein an inter-satellite monitoring device is mounted on the orbit transfer vehicle and is used to monitor the target satellite; transmitting a trajectory change command to the trajectory change control system based on the inter-satellite monitoring device to control the orbit transfer vehicle to change its trajectory until the content monitored by the inter-satellite monitoring device for the target satellite meets a preset trajectory change termination condition; and transmitting a stop trajectory change command to the trajectory change control system to control the inter-satellite monitoring device to monitor the target satellite.

[0005] Optionally, transmitting a trajectory change command to the trajectory change control system based on positioning technology to control the orbit transfer vehicle to change its trajectory until the relative state between the orbit transfer vehicle and the target satellite reaches a preset relative state includes: determining first trajectory change parameters based on positioning technology, wherein the first trajectory change parameters include six orbital parameters of the orbit transfer vehicle and six parameters of the target satellite; determining a first trajectory change command based on the obtained first trajectory change parameters; transmitting the determined first trajectory change command to the trajectory change control system to control the orbit transfer vehicle to change its trajectory; determining the relative state between the orbit transfer vehicle and the target satellite; determining whether the determined relative state has reached the preset relative state; if the preset relative state has not been reached, repeating the steps of determining the first trajectory change parameters, determining the first trajectory change command, transmitting the determined first trajectory change command to the trajectory change control system, and determining the relative state until the determined relative state reaches the preset relative state.

[0006] Optionally, the orbit change command is transmitted from the inter-satellite monitoring device to the orbit change control system to control the orbit transfer vehicle to change its orbit until the content monitored by the inter-satellite monitoring device for the target satellite meets the preset orbit change termination condition. This includes: determining second orbit change parameters based on the inter-satellite monitoring device, wherein the second orbit change parameters include the relative distance and approach speed between the orbit transfer vehicle and the target satellite; determining a second orbit change command based on the determined second orbit change parameters; transmitting the determined second orbit change command to the orbit change control system to control the orbit transfer vehicle to change its orbit; determining whether the preset orbit change termination condition is met; and if the preset orbit change termination condition is not met, repeating the process of determining the second orbit change parameters, determining the second orbit change command, and transmitting the determined second orbit change command to the orbit change control system until the preset orbit change termination condition is met.

[0007] Optionally, if the relative state between the orbit transfer vehicle and the target satellite reaches the preset relative state but does not meet the preset orbit change termination condition, the cooperative control method further includes: adjusting the monitoring frequency of the inter-satellite monitoring device based on the orbit change phase in which the orbit transfer vehicle is located.

[0008] Optionally, the relative state between the orbital transfer vehicle and the target satellite is characterized based on the following: relative distance and / or orbital inclination deviation.

[0009] Secondly, this application also provides a cooperative control device for inter-satellite monitoring, comprising: a first orbit-changing module, used to transmit orbit-changing commands to an orbit-changing control system based on positioning technology, to control the orbit transfer vehicle to change its orbit until the relative state between the orbit transfer vehicle and the target satellite reaches a preset relative state, wherein an inter-satellite monitoring device is mounted on the orbit transfer vehicle and is used to monitor the target satellite; a second orbit-changing module, used to transmit orbit-changing commands to the orbit-changing control system based on the inter-satellite monitoring device, to control the orbit transfer vehicle to change its orbit until the content monitored by the inter-satellite monitoring device for the target satellite meets a preset orbit-changing termination condition; and a monitoring module, used to transmit a stop orbit-changing command to the orbit-changing control system, controlling the inter-satellite monitoring device to monitor the target satellite.

[0010] Optionally, the first orbit-changing module transmits orbit-changing commands to the orbit-changing control system based on positioning technology to control the orbit transfer vehicle to change its orbit until the relative state between the orbit transfer vehicle and the target satellite reaches a preset relative state. This includes: determining first orbit-changing parameters based on positioning technology, wherein the first orbit-changing parameters include the six orbital parameters of the orbit transfer vehicle and the six orbital parameters of the target satellite; determining a first orbit-changing command based on the obtained first orbit-changing parameters; transmitting the determined first orbit-changing command to the orbit-changing control system to control the orbit transfer vehicle to change its orbit; determining the relative state between the orbit transfer vehicle and the target satellite; determining whether the determined relative state has reached the preset relative state; and if the preset relative state has not been reached, repeating the steps of determining the first orbit-changing parameters, determining the first orbit-changing command, transmitting the determined first orbit-changing command to the orbit-changing control system, and determining the relative state until the determined relative state reaches the preset relative state.

[0011] Optionally, the second orbit-changing module transmits orbit-changing commands to the orbit-changing control system based on the inter-satellite monitoring device to control the orbit transfer vehicle to change its orbit until the content monitored by the inter-satellite monitoring device for the target satellite meets the preset orbit-changing termination condition. This includes: determining second orbit-changing parameters based on the inter-satellite monitoring device, wherein the second orbit-changing parameters include the relative distance and approach speed between the orbit transfer vehicle and the target satellite; determining a second orbit-changing command based on the determined second orbit-changing parameters; transmitting the determined second orbit-changing command to the orbit-changing control system to control the orbit transfer vehicle to change its orbit; determining whether the preset orbit-changing termination condition is met; and if the preset orbit-changing termination condition is not met, repeating the process of determining the second orbit-changing parameters, determining the second orbit-changing command, and transmitting the determined second orbit-changing command to the orbit-changing control system until the preset orbit-changing termination condition is met.

[0012] Optionally, the collaborative control device further includes an adjustment module, used to adjust the monitoring frequency of the inter-satellite monitoring device based on the orbital change phase in which the orbital transfer vehicle is located, when the relative state between the orbital transfer vehicle and the target satellite reaches the preset relative state but does not meet the preset orbit change termination condition.

[0013] Optionally, the relative state between the orbital transfer vehicle and the target satellite is characterized based on the following: relative distance and / or orbital inclination deviation.

[0014] Thirdly, this application also provides a machine-readable storage medium storing instructions that cause a machine to perform the above-described cooperative control method.

[0015] Fourthly, this application also provides an electronic device comprising: a processor; a memory for storing executable instructions of the processor; the processor being configured to read the executable instructions from the memory and execute the executable instructions to implement the aforementioned cooperative control method.

[0016] According to the technical solution of this application, orbit change commands are transmitted to the orbit change control system based on positioning technology to control the orbit transfer vehicle to change its orbit until the relative state between the orbit transfer vehicle and the target satellite reaches a preset relative state; orbit change commands are also transmitted to the orbit change control system based on the inter-satellite monitoring device to control the orbit transfer vehicle to change its orbit until the content monitored by the inter-satellite monitoring device on the target satellite meets the preset orbit change termination conditions; a stop orbit change command is transmitted to the orbit change control system to control the inter-satellite monitoring device to monitor the target satellite. In this way, no human intervention is required during the inter-satellite monitoring process. The inter-satellite monitoring device and the orbit change control system communicate and work together in real time, shortening the response time and improving the response speed of inter-satellite monitoring.

[0017] Other features and advantages of this application will be described in detail in the following detailed description section. Attached Figure Description

[0018] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application, and the illustrative embodiments and descriptions thereof are used to explain this application. In the drawings: Figure 1 This is a flowchart of a cooperative control method for inter-satellite monitoring according to a preferred embodiment of this application; Figure 2 This is a structural block diagram of a cooperative control device for inter-satellite monitoring according to a preferred embodiment of this application. Detailed Implementation

[0019] The technical solution of this application will now be described in detail with reference to the accompanying drawings and embodiments.

[0020] In a first aspect, embodiments of this application provide a collaborative control method for inter-satellite monitoring.

[0021] Figure 1 This is a flowchart of a cooperative control method for inter-satellite monitoring according to a preferred embodiment of this application. Figure 1 As shown, the collaborative control method includes the following:

[0022] In step S10, a trajectory change command is transmitted to the trajectory change control system based on positioning technology to control the orbit transfer vehicle to change its trajectory until the relative state between the orbit transfer vehicle and the target satellite reaches a preset relative state. An inter-satellite monitoring device is mounted on the orbit transfer vehicle and is used to monitor the target satellite. Optionally, the positioning technology can be GNSS technology.

[0023] In step S11, the orbit change command is transmitted from the inter-satellite monitoring device to the orbit change control system to control the orbit transfer vehicle to change its orbit until the content monitored by the inter-satellite monitoring device for the target satellite meets the preset orbit change termination conditions.

[0024] In step S12, a stop orbit change command is transmitted to the orbit change control system, and the inter-satellite monitoring device is controlled to monitor the target satellite.

[0025] Optionally, in this embodiment of the application, transmitting orbit change commands to the orbit change control system based on positioning technology to control the orbit transfer vehicle to change its orbit until the relative state between the orbit transfer vehicle and the target satellite reaches a preset relative state may include the following.

[0026] Based on positioning technology, the first orbital change parameters are determined, including the six orbital parameters of the orbital transfer vehicle and the six orbital parameters of the target satellite. Specifically, the six orbital parameters of the orbital transfer vehicle are determined based on its own positioning device, and the six orbital parameters of the target satellite are determined based on its own positioning device. The six orbital parameters include the semi-major axis, inclination, eccentricity, right ascension of the ascending node, argument of perigee, and true anomaly.

[0027] Based on the acquired first trajectory change parameters, a first trajectory change command is determined. Optionally, the trajectory change command includes thrust magnitude and thrust direction. The first trajectory change command is a trajectory change command determined based on the first trajectory change parameters. For example, it can be determined based on the first trajectory change parameters combined with a PID control algorithm.

[0028] The determined first orbit change command is transmitted to the orbit change control system to control the orbit transfer vehicle to change its orbit.

[0029] The relative state between the orbit transfer vehicle and the target satellite is determined. Optionally, in this embodiment, the relative state between the orbit transfer vehicle and the target satellite can be characterized based on the relative distance and / or orbital inclination deviation. The relative distance refers to the distance between the orbit transfer vehicle and the target satellite. Furthermore, the orbital inclination deviation refers to the deviation between the orbital inclination of the orbit transfer vehicle and the orbital inclination of the target satellite; specifically, it refers to the absolute value of the difference between the orbital inclination of the orbit transfer vehicle and the orbital inclination of the target satellite.

[0030] Determine whether the determined relative state has reached a preset relative state. The preset relative state can be a threshold value set for the relative state. For example, when characterizing the relative state between the orbital transfer vehicle and the target satellite based on relative distance and / or orbital inclination deviation, the preset relative state can be a condition set for the relative distance and / or orbital inclination deviation. For example, the condition for relative distance could be less than or equal to 100m, and the condition for orbital inclination deviation could be less than or equal to 0.5º. Specifically, determining whether the relative state has reached the preset relative state can be done by judging whether the following conditions are met: relative distance less than or equal to 100m and orbital inclination deviation less than or equal to 0.5º.

[0031] If the preset relative state is not reached, the following steps are repeated: determine the first track change parameter, determine the first track change command, transmit the determined first track change command to the track change control system, and determine the relative state, until the determined relative state reaches the preset relative state.

[0032] Optionally, the orbit change command is transmitted from the inter-satellite monitoring device to the orbit change control system to control the orbit transfer vehicle to change its orbit until the content monitored by the inter-satellite monitoring device for the target satellite meets the preset orbit change termination conditions, which may include the following:

[0033] Based on the inter-satellite monitoring device, second orbit change parameters are determined, including the relative distance and approach velocity between the orbit transfer vehicle and the target satellite. The approach velocity refers to the relative velocity between the two. Specifically, the inter-satellite monitoring device may be equipped with a ranging device used to detect the relative distance between the orbit transfer vehicle and the target satellite. Further, the approach velocity is determined based on the detected relative distance. For example, the relative distance is detected twice at intervals, and the approach velocity is calculated based on the difference between the two detected relative distances and the time interval. Optionally, the ranging device may be a laser rangefinder. Optionally, in this embodiment, for the laser rangefinder, the measurement range may be 0.5-500m, and the accuracy may be ±1mm.

[0034] Based on the determined second trajectory change parameters, a second trajectory change command is determined. The second trajectory change command is the trajectory change command corresponding to the second trajectory change parameters, and it can include thrust magnitude and thrust direction. Alternatively, the second trajectory change command can be determined based on the second trajectory change parameters and in conjunction with a PID control algorithm.

[0035] The determined second orbit change command is transmitted to the orbit change control system to control the orbit transfer vehicle to perform the orbit change.

[0036] The system determines whether a preset orbit change termination condition is met. For example, this can be based on the monitoring data of the target satellite by an inter-satellite monitoring device. Specifically, the inter-satellite monitoring device can photograph the target satellite, and the determination of whether the preset orbit change termination condition is met can be based on the captured images. For example, the inter-satellite monitoring device may be equipped with an image capturing device, such as a visible light camera. The image capturing device photographs the target satellite, for example, the location of the target satellite to be monitored. The preset orbit change termination condition can be based on conditions set for the image. For example, it can be based on image clarity. When the clarity of the captured image meets the clarity setting in the preset orbit change termination condition, the preset orbit change termination condition is determined to be met. Optionally, in this embodiment, the visible light camera may have a 4K resolution (3840×2160), a 10x optical zoom lens, and a dynamic range of 120dB.

[0037] If the preset track change termination condition is not met, the process of determining the second track change parameters, determining the second track change command, and transmitting the determined second track change command to the track change control system is repeated until the preset track change termination condition is met.

[0038] Optionally, in embodiments of this application, in addition to using a laser rangefinder to obtain the relative distance between the orbital transfer vehicle and the target satellite, the relative distance can also be obtained based on an image ranging algorithm (e.g., binocular vision). Using an image ranging algorithm eliminates the need for additional hardware, allowing the calculation of the relative distance to be implemented in software, and also reduces the weight of the device.

[0039] Optionally, in this embodiment, when the determined relative state reaches a preset relative state, the ranging device and image acquisition device on the inter-satellite monitoring device are automatically activated. Optionally, in this embodiment, an onboard LVDS high-speed bus supplemented by a redundant CAN link can be used to schedule data transmission in a master-slave topology. Time synchronization is achieved through the PTP protocol, and both downlink commands and uplink data are accompanied by CRC checks. Automatic device activation under preset relative states is supported, ensuring data real-time performance and on-orbit reliability.

[0040] Optionally, in the embodiments of this application, when the relative state between the orbit transfer vehicle and the target satellite reaches a preset relative state but the preset orbit change termination condition is not met, the cooperative control method may further include the following:

[0041] The monitoring frequency of the inter-satellite monitoring device is adjusted based on the orbital change phase of the orbital transfer vehicle. This phase can be either an accelerated monitoring phase or a stable monitoring phase. The accelerated and stable monitoring phases can be distinguished based on the relative distance between the orbital transfer vehicle and the target satellite. For example, a relative distance threshold can be set between the orbital transfer vehicle and the target satellite. When the relative distance is less than or equal to the threshold, it is an accelerated monitoring phase; when the relative distance is greater than the threshold, it is a stable monitoring phase. The orbital change phase of the orbital transfer vehicle is determined based on the relative distance, and the monitoring frequency of the inter-satellite monitoring device is adjusted accordingly. Specifically, the monitoring frequency during the accelerated monitoring phase is higher than the frequency during the stable monitoring phase. For example, when the orbital change phase is an accelerated monitoring phase, the monitoring frequency of the inter-satellite monitoring device is adjusted to 50Hz; when the orbital change phase is a stable monitoring phase, the monitoring frequency is adjusted to 10Hz.

[0042] Optionally, in this embodiment, the orbital change stage of the orbit transfer vehicle can be determined before the orbital change command is transmitted from the inter-satellite monitoring device to the orbital change control system, and then the monitoring frequency of the inter-satellite monitoring device can be adjusted based on the orbital change stage of the orbit transfer vehicle. Specifically, this is done before determining the second orbital change parameters based on the inter-satellite monitoring device.

[0043] The technical solution provided in this application enables real-time communication between the inter-satellite monitoring device and the orbit transfer vehicle's orbit change control system, shortening the monitoring response time after approach and meeting the requirements for rapid operation.

[0044] Secondly, this application also provides a cooperative control device for inter-satellite monitoring.

[0045] Figure 2 This is a structural block diagram of a cooperative control device for inter-satellite monitoring according to a preferred embodiment of this application. Figure 2 As shown, the collaborative control device includes a first track-changing module 10, a second track-changing module 20, and a monitoring module 30.

[0046] The first orbit-changing module 10 transmits orbit-changing commands to the orbit-changing control system based on positioning technology to control the orbit transfer vehicle to change its orbit until the relative state between the orbit transfer vehicle and the target satellite reaches a preset relative state. An inter-satellite monitoring device is mounted on the orbit transfer vehicle and is used to monitor the target satellite. The second orbit-changing module 20 transmits orbit-changing commands to the orbit-changing control system based on the inter-satellite monitoring device to control the orbit transfer vehicle to change its orbit until the inter-satellite monitoring device detects that the target satellite meets preset orbit-changing termination conditions. The monitoring module 30 transmits a stop orbit-changing command to the orbit-changing control system and controls the inter-satellite monitoring device to monitor the target satellite.

[0047] Optionally, the first orbit-changing module transmits orbit-changing commands to the orbit-changing control system based on positioning technology to control the orbit transfer vehicle to change its orbit until the relative state between the orbit transfer vehicle and the target satellite reaches a preset relative state. This includes: determining first orbit-changing parameters based on positioning technology, wherein the first orbit-changing parameters include the six orbital parameters of the orbit transfer vehicle and the six orbital parameters of the target satellite; determining a first orbit-changing command based on the obtained first orbit-changing parameters; transmitting the determined first orbit-changing command to the orbit-changing control system to control the orbit transfer vehicle to change its orbit; determining the relative state between the orbit transfer vehicle and the target satellite; determining whether the determined relative state has reached the preset relative state; and if the preset relative state has not been reached, repeating the process of determining the first orbit-changing parameters, determining the first orbit-changing command, transmitting the determined first orbit-changing command to the orbit-changing control system, and determining the relative state until the determined relative state reaches the preset relative state.

[0048] Optionally, the second orbit change module transmits orbit change commands to the orbit change control system based on the inter-satellite monitoring device to control the orbit transfer vehicle to change its orbit until the content monitored by the inter-satellite monitoring device for the target satellite meets the preset orbit change termination conditions. This includes: determining second orbit change parameters based on the inter-satellite monitoring device, wherein the second orbit change parameters include the relative distance and approach speed between the orbit transfer vehicle and the target satellite; determining second orbit change commands based on the determined second orbit change parameters; transmitting the determined second orbit change commands to the orbit change control system to control the orbit transfer vehicle to change its orbit; determining whether the preset orbit change termination conditions are met; and if the preset orbit change termination conditions are not met, repeating the process of determining the second orbit change parameters, determining the second orbit change commands, and transmitting the determined second orbit change commands to the orbit change control system until the preset orbit change termination conditions are met.

[0049] Optionally, the collaborative control device further includes an adjustment module, used to adjust the monitoring frequency of the inter-satellite monitoring device based on the orbital change phase in which the orbital transfer vehicle is located, when the relative state between the orbital transfer vehicle and the target satellite reaches a preset relative state but does not meet the preset orbit change termination condition.

[0050] Optionally, the relative state between the orbital transfer vehicle and the target satellite is characterized based on the following: relative distance and / or orbital inclination deviation.

[0051] Optionally, in this embodiment, a 485 bus can be used to connect the cooperative control device and the orbit transfer vehicle's orbital control system for communication. The data transmission rate is 10 Mbps, and the latency is ≤10 ms. Alternatively, wireless radio frequency communication can be used to achieve communication between the cooperative control device and the orbital control system. Using wireless radio frequency communication eliminates the need for physical wiring, simplifies device assembly, and improves assembly efficiency.

[0052] Optionally, in this embodiment, the main link between the collaborative control device and the inter-satellite monitoring device can adopt an onboard LVDS high-speed bus (compatible with RS-485 backup) to achieve a wired connection in a master-slave topology. Alternatively, the collaborative control device and the inter-satellite monitoring device can adopt onboard wireless radio frequency communication, eliminating the need for physical wiring. Redundancy design ensures the real-time performance and reliability of data transmission, adapting to the monitoring requirements during orbit change phases.

[0053] The working principle and benefits of the cooperative control device provided in this application are similar to those of the cooperative control method provided in this application, and will not be repeated here.

[0054] Thirdly, this application also provides a machine-readable storage medium storing instructions that cause a machine to perform the aforementioned cooperative control method.

[0055] Fourthly, this application also provides an electronic device comprising: a processor; a memory for storing executable instructions of the processor; the processor being configured to read the executable instructions from the memory and execute the executable instructions to implement the aforementioned cooperative control method.

[0056] The preferred embodiments of this application have been described in detail above. However, this application is not limited to the specific details of the above embodiments. Within the scope of the technical concept of this application, various simple modifications can be made to the technical solution of this application, and these simple modifications all fall within the protection scope of this application.

[0057] It should also be noted that the various specific technical features described in the above embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, this application will not describe the various possible combinations separately.

[0058] Furthermore, various different implementations of this application can be combined in any way, as long as they do not violate the spirit of this application, they should also be regarded as the content disclosed in this application.

Claims

1. A cooperative control method for inter-satellite monitoring, characterized in that, This collaborative control method includes: Based on positioning technology, the orbit change command is transmitted to the orbit change control system to control the orbit transfer vehicle to change its orbit until the relative state between the orbit transfer vehicle and the target satellite reaches a preset relative state. The inter-satellite monitoring device is mounted on the orbit transfer vehicle and is used to monitor the target satellite. Based on the inter-satellite monitoring device transmitting orbit change commands to the orbit change control system, the orbit transfer vehicle is controlled to change its orbit until the content monitored by the inter-satellite monitoring device for the target satellite meets the preset orbit change termination conditions. The system transmits a stop orbit change command to the orbit change control system, and controls the inter-satellite monitoring device to monitor the target satellite.

2. The collaborative control method according to claim 1, characterized in that, Based on positioning technology, orbit change commands are transmitted to the orbit change control system to control the orbit transfer vehicle to change its orbit until the relative state between the orbit transfer vehicle and the target satellite reaches a preset relative state, including: Based on positioning technology, the first orbit change parameters are determined, wherein the first orbit change parameters include the six orbital parameters of the orbit transfer vehicle and the six orbital parameters of the target satellite; Based on the acquired first trajectory change parameters, the first trajectory change command is determined; The determined first orbit change command is transmitted to the orbit change control system to control the orbit transfer vehicle to perform an orbit change; Determine the relative state between the orbital transfer vehicle and the target satellite; Determine whether the determined relative state has reached the preset relative state; If the preset relative state is not reached, the following steps are repeated: determining the first track change parameter, determining the first track change command, transmitting the determined first track change command to the track change control system, and determining the relative state, until the determined relative state reaches the preset relative state.

3. The collaborative control method according to claim 1, characterized in that, Based on the orbit change command transmitted from the inter-satellite monitoring device to the orbit change control system, the orbit transfer spacecraft is controlled to change its orbit until the content monitored by the inter-satellite monitoring device for the target satellite meets the preset orbit change termination conditions, including: Based on the inter-satellite monitoring device, the second orbit change parameters are determined, wherein the second orbit change parameters include the relative distance and approach speed between the orbit transfer vehicle and the target satellite; Based on the determined second orbit change parameters, determine the second orbit change command; The determined second orbit change command is transmitted to the orbit change control system to control the orbit transfer vehicle to perform an orbit change; Determine whether the preset trajectory change termination condition is met; If the preset track change termination condition is not met, the process of determining the second track change parameters, determining the second track change command, and transmitting the determined second track change command to the track change control system is repeated until the preset track change termination condition is met.

4. The collaborative control method according to claim 1, characterized in that, If the relative state between the orbit transfer vehicle and the target satellite reaches the preset relative state but the preset orbit change termination condition is not met, the cooperative control method further includes: The monitoring frequency of the inter-satellite monitoring device is adjusted based on the orbital transfer phase of the orbital transfer vehicle.

5. The cooperative control method according to any one of claims 1-4, characterized in that, The relative state between the orbital transfer vehicle and the target satellite is characterized based on the following: relative distance and / or orbital inclination deviation.

6. A cooperative control device for inter-satellite monitoring, characterized in that, The collaborative control device includes: The first orbit change module is used to transmit orbit change commands to the orbit change control system based on positioning technology, so as to control the orbit transfer vehicle to change its orbit until the relative state between the orbit transfer vehicle and the target satellite reaches a preset relative state. The inter-satellite monitoring device is mounted on the orbit transfer vehicle and is used to monitor the target satellite. The second orbit change module is used to transmit orbit change commands to the orbit change control system based on the inter-satellite monitoring device, so as to control the orbit transfer vehicle to change its orbit until the content monitored by the inter-satellite monitoring device for the target satellite meets the preset orbit change termination conditions. The monitoring module is used to transmit a stop orbit change command to the orbit change control system and control the inter-satellite monitoring device to monitor the target satellite.

7. The cooperative control device according to claim 6, characterized in that, The first orbit-changing module transmits orbit-changing commands to the orbit-changing control system based on positioning technology to control the orbit transfer vehicle to change its orbit until the relative state between the orbit transfer vehicle and the target satellite reaches a preset relative state, including: Based on positioning technology, the first orbit change parameters are determined, wherein the first orbit change parameters include the six orbital parameters of the orbit transfer vehicle and the six orbital parameters of the target satellite; Based on the acquired first trajectory change parameters, the first trajectory change command is determined; The determined first orbit change command is transmitted to the orbit change control system to control the orbit transfer vehicle to perform an orbit change; Determine the relative state between the orbital transfer vehicle and the target satellite; Determine whether the determined relative state has reached the preset relative state; If the preset relative state is not reached, the following steps are repeated: determining the first track change parameter, determining the first track change command, transmitting the determined first track change command to the track change control system, and determining the relative state, until the determined relative state reaches the preset relative state.

8. The cooperative control device according to claim 6, characterized in that, The second orbit change module transmits orbit change commands to the orbit change control system based on the inter-satellite monitoring device, to control the orbit transfer spacecraft to change its orbit until the inter-satellite monitoring device detects that the target satellite meets preset orbit change termination conditions, including: Based on the inter-satellite monitoring device, the second orbit change parameters are determined, wherein the second orbit change parameters include the relative distance and approach speed between the orbit transfer vehicle and the target satellite; Based on the determined second orbit change parameters, determine the second orbit change command; The determined second orbit change command is transmitted to the orbit change control system to control the orbit transfer vehicle to perform an orbit change; Determine whether the preset trajectory change termination condition is met; If the preset track change termination condition is not met, the process of determining the second track change parameters, determining the second track change command, and transmitting the determined second track change command to the track change control system is repeated until the preset track change termination condition is met.

9. A machine-readable storage medium, characterized in that, The machine-readable storage medium stores instructions for causing the machine to perform the cooperative control method according to any one of claims 1-5.

10. An electronic device, characterized in that, The electronic device includes: processor; Memory used to store the processor's executable instructions; The processor is configured to read the executable instructions from the memory and execute the executable instructions to implement the cooperative control method according to any one of claims 1-5.

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