Constellation satellite compensation control method and device and electronic equipment

Abstract

The specification provides a constellation satellite compensation control method and device and electronic equipment, applied to the satellite orbit control technical field. Based on the method, first, the constellation configuration of the target constellation and the satellite information of the satellites contained in the target constellation are acquired, and the required candidate satellite combination is determined; then, by constructing the control deviation constraint curve of the candidate satellite combination, the control deviation graph for representing the data relationship between the ascending node right ascension deviation and the phase deviation of different candidate satellites in the candidate satellite combination is established; according to the control deviation graph, the deviation control slope is determined; then, according to the deviation control slope, the corresponding phase compensation control of the candidate satellites in the target constellation is carried out. Thus, the compensation control of the satellites in a large-scale complex constellation such as a low-orbit giant constellation can be efficiently and accurately realized at a relatively low cost, so as to effectively reduce the collision risk between satellites and ensure the safety of the deployment and operation of the satellites in the constellation.

Description

Technical Field

[0001] This manual pertains to the field of satellite orbit control technology, and particularly relates to compensation control methods, devices, and electronic equipment for constellation satellites. Background Technology

[0002] When a satellite is in orbit, its actual orbital control position often deviates from its planned nominal orbital parameters due to orbital perturbations and the influence of control precision. This can lead to potential collisions with other satellites during deployment or operation. This risk is particularly high in large low-Earth orbit constellations, where the sheer number of satellites and their similar orbital parameters further increase the risk of collisions, impacting the safety of satellite deployment and operation within the constellation.

[0003] There is currently no effective solution to the above problems. Summary of the Invention

[0004] To address the problems in the prior art, embodiments of this specification provide a compensation control method, apparatus, and electronic device for constellation satellites, which can efficiently and accurately achieve compensation control of satellites in large-scale complex constellations such as low-Earth orbit mega-constellations at a relatively low cost.

[0005] This specification provides an embodiment of a compensation control method for constellation satellites, including: Obtain the constellation configuration of the target constellation, as well as the satellite information of the satellites contained in the target constellation; Based on the constellation configuration of the target constellation and the satellite information of the satellites contained in the target constellation, a candidate satellite combination that meets the requirements is determined; wherein, the candidate satellite combination includes at least two candidate satellites that are close to each other in the target constellation; By constructing control deviation constraint curves for candidate satellite combinations, a control deviation map is obtained; wherein, the control deviation map is used to characterize the data relationship between the right ascension deviation of the ascending node and the phase deviation among different candidate satellites in the candidate satellite combination; Determine the deviation control slope based on the control deviation diagram; Based on the deviation control slope, corresponding phase compensation control is performed on the candidate satellites in the target constellation.

[0006] In one embodiment, the method further includes: Establish the current control deviation constraint curve corresponding to the current candidate satellite combination in the following manner: Obtain the orbital inclination of the target constellation; and based on the orbital inclination of the target constellation, construct the current encounter curve for the first and second candidate satellites in the current candidate satellite combination; Construct a local ascending node right ascension control bias for the first and second candidate satellites; Based on the current encounter curve and the local ascending node right ascension control deviation, the corresponding local phase control deviation is determined; Based on the local ascending node right ascension control deviation and the local phase control deviation, a current control deviation constraint curve corresponding to the current candidate satellite combination is constructed.

[0007] In one embodiment, determining the deviation control slope based on the control deviation graph includes: In the control deviation map, a blank safe image region centered at the origin and surrounded by control deviation constraint curves of different candidate satellite combinations is identified. The deviation control slope is determined based on the blank security image area.

[0008] In one embodiment, the blank security image region includes a blank quadrilateral image region.

[0009] In one embodiment, determining the deviation control slope based on the blank security image region includes: Obtain the coordinate data of the vertices of the blank security image region based on the control deviation map; Based on the coordinate data of the vertex, the deviation control slope is determined.

[0010] In one embodiment, the vertex includes: a first vertex, a second vertex, a third vertex, and a fourth vertex; wherein the first vertex is the vertex located at the upper left corner of the blank security image area, the second vertex is the vertex located at the upper right corner of the blank security image area, the third vertex is the vertex located at the lower left corner of the blank security image area, and the fourth vertex is the vertex located at the lower right corner of the blank security image area.

[0011] In one embodiment, determining the deviation control slope based on the coordinate data of the vertex includes: Based on the coordinate data of the first vertex and the coordinate data of the fourth vertex, the deviation control slope is determined by calculating the slope of the line connecting the first vertex and the fourth vertex. And / or, Based on the coordinate data of the second and third vertices, the deviation control slope is determined by calculating the slope of the line connecting the second and third vertices.

[0012] In one embodiment, determining the deviation control slope based on the coordinate data of the vertex further includes: Detect whether the orbital tilt angle of the target constellation is greater than a preset tilt angle threshold; When the orbital inclination of the target constellation is less than or equal to the preset inclination threshold, the deviation control slope is determined by calculating the slope of the line connecting the first and fourth vertices based on the coordinate data of the first and fourth vertices. When the orbital inclination of the target constellation is greater than the preset inclination threshold, the deviation control slope is determined by calculating the slope of the line connecting the second and third vertices based on the coordinate data of the second and third vertices.

[0013] In one embodiment, performing corresponding phase compensation control on candidate satellites in the target constellation based on the deviation control slope includes: Obtain the control value of the right ascension of the ascending node, the nominal value of the right ascension of the ascending node, and the nominal value of the phase of the candidate satellite; The phase deviation compensation of the candidate satellite is determined based on the control value of the right ascension of the ascending node, the nominal value of the right ascension of the ascending node, the nominal value of the phase, and the deviation control slope. Based on the phase deviation compensation of the candidate satellite, corresponding phase compensation control is performed on the candidate satellite.

[0014] In one embodiment, the step of performing corresponding phase compensation control on candidate satellites in the target constellation based on the deviation control slope further includes: Based on the satellite information of the candidate satellites, determine the current stage type of the candidate satellites; wherein, the stage type includes: configuration deployment stage or configuration maintenance stage; Based on the stage type, a matching target compensation processing rule is determined; According to the target compensation processing rules, the candidate satellite is subjected to corresponding phase compensation control using the deviation control slope.

[0015] In one embodiment, when the phase type is the configuration deployment phase, the step of performing corresponding phase compensation control on the candidate satellites according to the target compensation processing rule and using the deviation control slope includes: According to the target compensation processing rules, obtain the control value of the right ascension of the ascending node, the nominal value of the right ascension of the ascending node, and the nominal value of the phase of the candidate satellite; The phase deviation compensation of the candidate satellite is determined based on the control value of the right ascension of the ascending node, the nominal value of the right ascension of the ascending node, the nominal value of the phase, and the deviation control slope. Using the phase deviation compensation and the nominal phase value, the corrected phase control value is determined; Based on the corrected phase control values, adjust the orbit control scheme for phase acquisition of candidate satellites; The candidate satellite will be deployed according to the adjusted phase acquisition orbit control scheme.

[0016] In one embodiment, when the phase type is a configuration maintenance phase, the step of performing corresponding phase compensation control on the candidate satellite according to the target compensation processing rule and using the deviation control slope includes: Based on the target compensation processing rules, determine the deviation safety margin of the candidate satellites; Based on the deviation safety margin of the candidate satellite, determine the type of fluctuation amplitude retention of the candidate satellite with respect to the right ascension of the ascending node after deployment; Based on the fluctuation amplitude retention type, a matching target detection frequency is determined; Based on the target detection frequency, the control value of the current ascending node right ascension, the nominal value of the current ascending node right ascension, and the nominal value of the current phase of the candidate satellite are periodically acquired. The current phase deviation compensation of the candidate satellite is determined based on the control value of the current right ascension of the ascending node, the nominal value of the current right ascension of the ascending node, the nominal value of the current phase, and the deviation control slope. The current phase offset compensation of the candidate satellite is used to adjust the current phase compensation of the candidate satellite.

[0017] In one embodiment, determining the required candidate satellite combination based on the constellation configuration of the target constellation and the satellite information of the satellites included in the target constellation includes: Based on the constellation configuration of the target constellation and the satellite information of the satellites contained in the target constellation, calculate the minimum inter-satellite distance between different satellites in the target constellation; Based on the minimum inter-satellite distance between different satellites, nearby satellites are selected and combined to obtain a candidate satellite combination that meets the requirements.

[0018] This specification also provides an embodiment of a satellite constellation compensation control device, comprising: The acquisition module is used to acquire the constellation configuration of the target constellation and the satellite information of the satellites contained in the target constellation; The first determining module is used to determine a candidate satellite combination that meets the requirements based on the constellation configuration of the target constellation and the satellite information of the satellites contained in the target constellation; wherein the candidate satellite combination includes at least two candidate satellites that are close to each other in the target constellation; A module is established to generate a control deviation map by constructing control deviation constraint curves for candidate satellite combinations; wherein, the control deviation map is used to characterize the data relationship between the right ascension deviation of the ascending node and the phase deviation among different candidate satellites in the candidate satellite combination; The second determining module is used to determine the deviation control slope based on the control deviation diagram. The compensation module is used to perform corresponding phase compensation control on the candidate satellites in the target constellation according to the deviation control slope.

[0019] This specification also provides an electronic device, including a processor and a memory for storing processor-executable instructions, wherein the processor executes the instructions to implement the steps of a compensation control method for the constellation satellites.

[0020] This specification also provides a computer-readable storage medium storing computer instructions that, when executed by a processor, implement the steps of the compensation control method for the constellation satellites.

[0021] This specification also provides a computer program product comprising a computer program that, when executed by a processor, implements the steps of the compensation control method for the constellation satellites.

[0022] Based on the constellation satellite compensation control method, apparatus, and electronic equipment provided in the embodiments of this specification, the constellation configuration of the target constellation and the satellite information of the satellites included in the target constellation can be obtained first. Then, based on the constellation configuration and satellite information of the target constellation, a suitable candidate satellite combination is determined. The candidate satellite combination includes at least two adjacent candidate satellites in the target constellation. A control deviation map is then established by constructing control deviation constraint curves for the candidate satellite combinations. This control deviation map characterizes the data relationship between the right ascension deviation of the ascending node and the phase deviation between different candidate satellites in the candidate satellite combination. Based on the control deviation map, a deviation control slope is determined. And based on the deviation control slope, corresponding phase compensation control is performed on the candidate satellites in the target constellation. By determining and utilizing the deviation control slope obtained based on the control deviation map, the data relationship between the right ascension deviation of the ascending node and the phase deviation between different satellites in the same constellation can be fully utilized. This allows for efficient and accurate compensation control of satellites in large-scale complex constellations, such as low-Earth orbit mega-constellations, at a relatively low cost, effectively reducing the risk of collisions between satellites and ensuring the safe deployment and operation of satellites in the constellation. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments or prior art of this specification, the drawings used in the description of the embodiments or prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this specification. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1The diagram shown is a schematic representation of an embodiment of a satellite constellation applying the compensation control method for constellation satellites provided in the embodiments of this specification. Figure 2 The diagram shown is a schematic representation of an embodiment of a control deviation map constructed using the compensation control method for constellation satellites provided in this specification. Figure 3 The diagram shown is a flowchart illustrating the compensation control method for constellation satellites provided in the embodiments of this specification. Figure 4 The diagram shown is a schematic representation of an embodiment of the compensation control method for constellation satellites provided in this specification, applied in a scenario example. Figure 5 The diagram shown is a schematic representation of an embodiment of the compensation control method for constellation satellites provided in this specification, applied in a scenario example. Figure 6 The diagram shown is a schematic representation of an embodiment of the compensation control method for constellation satellites provided in this specification, applied in a scenario example. Figure 7 The diagram shown is a structural composition schematic of the compensation control device for constellation satellites provided in the embodiments of this specification. Figure 8 The diagram shown is a structural composition diagram of the electronic device provided in the embodiments of this specification; Figure 9 The diagram shown is a schematic representation of an embodiment of the compensation control method for constellation satellites provided in this specification, applied in a scenario example. Figure 10 The diagram shown is a schematic representation of an embodiment of the compensation control method for constellation satellites provided in this specification, applied in a scenario example. Figure 11 The diagram shown is a schematic representation of an embodiment of the compensation control method for constellation satellites provided in this specification, applied in a scenario example. Figure 12 The diagram shown is a schematic representation of an embodiment of the compensation control method for constellation satellites provided in this specification, applied in a scenario example. Detailed Implementation

[0025] The technical solutions in the embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this specification, and not all embodiments. Based on the embodiments in this specification, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this specification.

[0026] A satellite constellation typically refers to a network of satellites with the same orbital altitude and inclination, or satellites with different parameters. For more details, please refer to [link to relevant documentation]. Figure 1 As shown, it is mainly used in fields such as global communication, navigation and environmental monitoring.

[0027] During actual operation in orbit, satellites within a constellation often deviate from their nominal orbital parameters due to orbital perturbations and control precision, remaining within a certain range. This is especially true for large low-Earth orbit (LEO) constellations, where the sheer number of satellites and their similar orbital parameters, coupled with the limited theoretical minimum inter-satellite distance, means that orbital control deviations further reduce this minimum distance, increasing the risk of satellite collisions within the constellation. Furthermore, since these large LEO constellations are often deployed using a multi-satellite launch method, the right ascension deviation of the ascending node caused by phase drift cannot be eliminated with only semi-major axis control. This deviation is generally much greater than the control precision required for the right ascension of the ascending node. Therefore, appropriate control strategies are needed to eliminate or mitigate the impact of this deviation on the constellation's internal safety.

[0028] However, existing methods mostly consider only phase-based deviation control, neglecting the influence of deviations in other orbital parameters, particularly the relationship between ascending node right ascension deviation and phase deviation. Specifically, existing methods typically adjust the ascending node right ascension slowly using orbital inclination offset after satellites are deployed to their operational orbits. This involves two orbital inclination adjustments—one for offset and one for readjustment—resulting in high satellite fuel consumption, long adjustment times, and high costs. Furthermore, they fail to consider constellation safety during the adjustment process. For example, newly deployed satellites may coexist with satellites undergoing adjustment, increasing the risk of collisions and triggering constellation safety issues. Additionally, these methods require high precision in subsequent maintenance control, further increasing overall costs.

[0029] For the aforementioned constellation satellites, by applying the constellation satellite compensation control method provided in the embodiments of this specification, the constellation configuration (e.g., a low-Earth orbit Walker constellation configuration) can be used first. Based on the constellation configuration and satellite information within the constellation, the minimum inter-satellite distances between different satellites in the constellation are analyzed to select neighboring satellites prone to collision as candidate satellites. These candidate satellites are then paired to obtain multiple candidate satellite combinations. Next, for each candidate satellite combination, the ascending node right ascension deviation and phase deviation between two different candidate satellites within that combination are analyzed. A control deviation constraint curve characterizing the data relationship between these ascending node right ascension deviations and phase deviations between different candidate satellites within that combination is constructed to establish a control deviation map for the entire constellation.

[0030] Furthermore, based on this control deviation map, image information can be used to quickly identify blank, safe image regions where the aforementioned candidate satellites are safe based on both ascending node right ascension deviation and phase deviation. For details, please refer to [reference needed]. Figure 2 As shown in the figure, the lines of different colors correspond to the control deviation constraint curves representing the data relationships of the ascending node right ascension deviation and phase deviation between different candidate satellites in the candidate satellite combination. Based on the blank safety image area, the corresponding deviation control slope is determined. Furthermore, based on this deviation control slope, the data relationships of the ascending node right ascension deviation and phase deviation between different satellites in the same constellation can be fully utilized. Different stages, such as the configuration deployment phase and the configuration maintenance phase, can be distinguished to perform matching phase compensation control on the satellites within the constellation, while simultaneously considering the ascending node right ascension deviation. This effectively reduces the impact of the ascending node right ascension deviation on constellation safety, achieving joint compensation control both outside and inside the orbital plane of the constellation satellites. While reducing the overall deviation control cost, it can be well adapted to large and complex constellations such as low-Earth orbit mega-constellations, effectively reducing the risk of collisions between constellation satellites and ensuring the deployment and operational safety of satellites within the constellation.

[0031] For details, please refer to Figure 3 As shown in the embodiments of this specification, a compensation control method for a constellation of satellites is provided. In specific implementation, this method may include the following:

[0032] S301: Obtain the constellation configuration of the target constellation and the satellite information of the satellites contained in the target constellation.

[0033] The aforementioned target constellation can be specifically understood as the constellation that requires compensation control and that is of interest. This constellation may contain multiple different satellites.

[0034] The constellation configurations described above can be understood as a network structure formed by multiple satellites arranged in orbits according to a specific geometric relationship. Specifically, these constellation configurations can include one of the following: Walker constellation, Star-type constellation, Delta-type constellation, Rosette constellation, etc.

[0035] Of course, it should be noted that the constellation configurations listed above are merely illustrative. In actual implementation, other suitable constellation configurations may be included depending on the specific circumstances and processing requirements. This specification does not limit this. This specification primarily uses the Walker constellation as an example for specific explanation. For other constellation configurations, please refer to the relevant embodiments regarding the Walker constellation.

[0036] The aforementioned satellite information may specifically include one or more of the following: satellite identification information, satellite orbital parameters, satellite launch method, and satellite launch time, etc.

[0037] In practice, the constellation configuration of the target constellation and the satellite information of the satellites contained in the target constellation can be obtained by querying related data such as deployment plans and launch data.

[0038] S302: Based on the constellation configuration of the target constellation and the satellite information of the satellites contained in the target constellation, determine a candidate satellite combination that meets the requirements; wherein the candidate satellite combination includes at least two candidate satellites that are close to each other in the target constellation.

[0039] The aforementioned candidate satellite combination may include at least two adjacent satellites in the target constellation that are prone to collision. The satellites included in the aforementioned candidate satellite combination may be referred to as candidate satellites.

[0040] In practice, the minimum inter-satellite distance between any two different satellites can be calculated based on the constellation configuration of the target constellation and the satellite information of the satellites contained in the target constellation. Then, based on the minimum inter-satellite distance, two satellites with a minimum inter-satellite distance less than a preset reference distance threshold (e.g., 1000 km) can be selected and combined as nearby satellites to obtain a candidate satellite combination that meets the requirements.

[0041] The aforementioned preset reference distance threshold can be determined based on the constellation configuration of the target constellation and the number of satellites contained in the target constellation.

[0042] Based on the above embodiments, candidate satellite combinations that meet the requirements can be efficiently selected from the satellites included in the target constellation to participate in subsequent data processing.

[0043] S303: By constructing the control deviation constraint curve of the candidate satellite combination, a control deviation map is obtained; wherein, the control deviation map is used to characterize the data relationship between the ascending node right ascension deviation and phase deviation of different candidate satellites in the candidate satellite combination.

[0044] Specifically, the aforementioned control deviation plot can be an image with the right ascension deviation of the ascending node between different candidate satellites in the candidate satellite combination as the horizontal axis (e.g., the X-axis) and the phase deviation between different candidate satellites as the vertical axis (e.g., the Y-axis); and includes control deviation constraint curves corresponding to the candidate satellite combinations in the target constellation. These control deviation constraint curves can be curves depicting small-amplitude fluctuations in the data relationship between the right ascension deviation of the ascending node and the phase deviation between different candidate satellite combinations within the corresponding candidate satellite combination. See [reference needed] for details. Figure 2 As shown.

[0045] The right ascension of the ascending node (RAAN) mentioned above specifically refers to the angular distance between the ascending node and the vernal equinox of the satellite's orbit. The phase mentioned above specifically refers to the orbital phase of the satellite.

[0046] Specifically, the control value of the satellite's actual right ascension of the ascending node can be expressed in the following form:

[0047] in, The right ascension of the ascending node is the control value. The nominal value of the right ascension of the ascending node. This represents the actual deviation of the right ascension of the ascending node. The nominal value of the ascending node's right ascension mentioned above can be understood as the originally planned right ascension of the ascending node, while the control value of the ascending node's right ascension mentioned above can be understood as the actually measured right ascension of the ascending node.

[0048] Similarly, the actual phase control values ​​of a satellite can be expressed in the following form:

[0049] Where u is the phase control value, Here, is the nominal value of the phase, and is the actual deviation of the phase. The nominal value of the phase can be understood as the originally planned phase, and the control value of the phase can be understood as the actually measured phase.

[0050] The aforementioned ascending node right ascension deviation can be specifically understood as the difference in the control values ​​of the ascending node right ascension between different candidate satellites in the same candidate satellite combination. For example, it can be expressed as: ,in, The right ascension deviation of the ascending node of this candidate satellite constellation. This is the control value for the right ascension of the ascending node of one of the candidate satellites in this candidate satellite combination (which can be denoted as the first candidate satellite). It is the control value for the right ascension of the ascending node of another candidate satellite (which can be denoted as the second candidate satellite) in this candidate satellite combination.

[0051] Similarly, the aforementioned phase deviation can be understood as the difference in phase control values ​​between different candidate satellites within the same candidate satellite combination. For example, it can be expressed as: ,in, The phase deviation of this candidate satellite combination. This refers to the control value for the phase of one of the candidate satellites in this candidate satellite combination (which can be denoted as the first candidate satellite). This is the control value for the phase of another candidate satellite (which can be referred to as the second candidate satellite) in the candidate satellite combination.

[0052] Furthermore, in actual control, it can be set as follows: At this point, the ascending node right ascension deviation and phase deviation of the candidate satellite combination can be expressed in the following forms: .

[0053] Based on the above formula, through further transformation, the following relationship can be obtained, which is the data relationship between the right ascension deviation of the ascending node and the phase deviation among different candidate satellites in the candidate satellite combination:

[0054] Where b can be denoted as the deviation control slope. It is the difference in the control values ​​of the right ascension of the ascending node between the first and second candidate satellites (or denoted as the right ascension deviation of the ascending node). The nominal value of the right ascension of the ascending node of the second candidate satellite. This represents the actual deviation of the right ascension of the ascending node of the second candidate satellite. The nominal value of the right ascension of the ascending node of the first candidate satellite. This represents the actual deviation of the right ascension of the ascending node of the first candidate satellite. This is the difference in the nominal value of the right ascension of the ascending node between the first and second candidate satellites. It is the difference (or phase deviation) between the control values ​​of the phase of the first candidate satellite and the second candidate satellite. This is the nominal value of the phase of the second candidate satellite. This represents the actual deviation of the phase of the second candidate satellite. This is the nominal value of the phase of the first candidate satellite. This represents the actual deviation of the phase of the first candidate satellite. This is the difference in the nominal phase values ​​between the first and second candidate satellites.

[0055] Based on the above data relationships, it can be seen that a straight line with a slope of b can be found in the control deviation diagram. By setting the satellites in the same orbital plane according to the right ascension deviation of the ascending node and using the corresponding phase deviation compensation to control the phase of the satellites, the satellites can be evenly distributed along this straight line. At the same time, by reasonably setting the control precision of the right ascension of the ascending node, the actual deviation values ​​of the satellites (including the actual deviation values ​​of the right ascension of the ascending node and the actual deviation values ​​of the phase) can be kept within the blank area in the center of the control deviation diagram (which can be recorded as the blank safety image area). This can effectively reduce the impact of the right ascension deviation error of the ascending node on the constellation satellites and ensure the safe deployment and operation of the constellation satellites.

[0056] Based on the above ideas, this application aims to first construct control deviation constraint curves for each candidate satellite combination to establish a control deviation map that can characterize the data relationship between the ascending node right ascension deviation and phase deviation among different candidate satellites in the candidate satellite combination; then, based on the above control deviation map, by analyzing and utilizing the data relationship between the ascending node right ascension deviation and phase deviation, the slope of the straight line based on the blank safety image region is found as the deviation control slope; and then, by using this deviation control slope, the influence of the ascending node right ascension deviation error can be effectively reduced through phase compensation control.

[0057] The control deviation constraint curve of the aforementioned candidate satellite combination can specifically refer to a local curve within a small range near the meeting point of the encounter curves of different candidate satellites in the combination. Since the control deviation curve is only a local curve within a small range of the encounter curves, it is approximated as a straight line here. (See reference...) Figure 2 As shown.

[0058] Specifically, the aforementioned control deviation constraint curve can represent a warning of the danger of constellation control deviation. If the control deviation causes the ascending node right ascension deviation and phase deviation between two candidate satellites in the candidate satellite combination to touch the control deviation constraint curve, it means that the theoretical minimum distance between the two candidate satellites is 0, i.e. there is a risk of collision.

[0059] For specific implementation, please refer to Figure 4 As shown, for any current candidate satellite combination, the current control deviation constraint curve corresponding to the current candidate satellite combination can be established in the following way: S4-1: Obtain the orbital inclination of the target constellation; and based on the orbital inclination of the target constellation, construct the current encounter curve for the first and second candidate satellites in the current candidate satellite combination; S4-2: Construct local ascending node right ascension control deviations for the first and second candidate satellites; S4-3: Determine the corresponding local phase control deviation based on the current encounter curve and the local ascending node right ascension control deviation; S4-4: Based on the local ascending node right ascension control deviation and the local phase control deviation, construct the current control deviation constraint curve corresponding to the current candidate satellite combination.

[0060] The orbital inclination of the target constellation can be obtained from the associated data of the target constellation and can be denoted as i.

[0061] Specifically, the current encounter curves for the first and second candidate satellites in the current candidate satellite combination can be constructed as follows:

[0062] in, The right ascension deviation of the ascending node between the first and second candidate satellites in the current candidate satellite combination. denoted as the phase deviation between the first and second candidate satellites in the current candidate satellite combination, and i as the orbital inclination of the target constellation.

[0063] Specifically, based on the correlation data of the target constellation, combined with the satellite information of the first and second candidate satellites, the local ascending node right ascension control deviations for the first and second candidate satellites can be constructed. Then, the aforementioned local ascending node right ascension control deviations can be substituted into the current encounter curve to solve for the corresponding local phase control deviations.

[0064] Meanwhile, considering that the control deviation constraint curve of the current candidate satellite combination is only a curve within a small neighborhood, it can be simplified to a straight line. Then, based on the encounter curve, the slope parameter (which can be denoted as k) of the control deviation constraint curve can be determined by taking the local derivative at the encounter position.

[0065] Specifically, for example, the slope of the control deviation constraint curve can be determined using the following formula: .

[0066] Where k is the slope parameter and i is the orbital inclination angle of the target constellation.

[0067] Finally, based on the aforementioned local ascending node right ascension control deviation, local phase control deviation, and slope parameter, a current control deviation constraint curve corresponding to the current candidate satellite combination can be constructed.

[0068] Following the above method, control deviation constraint curves for each candidate satellite combination of the target constellation can be constructed, thereby obtaining a control deviation map of the target constellation.

[0069] Based on the above embodiments, a control deviation map can be accurately and quickly constructed to effectively characterize the data relationship between the ascending node right ascension deviation and phase deviation among different candidate satellites in each candidate satellite combination of the target constellation, thereby realizing the coupling of ascending node right ascension deviation and phase deviation.

[0070] S304: Determine the deviation control slope based on the control deviation diagram.

[0071] In practice, the deviation control slope can be determined based on the above control deviation diagram in the following manner: S1: In the control deviation map, a blank safe image area is determined, centered on the origin and surrounded by control deviation constraint curves of different candidate satellite combinations. S2: Determine the deviation control slope based on the blank security image area.

[0072] For details, please refer to Figure 2 As shown, taking the Walker constellation as an example, a blank quadrilateral image region without any control deviation constraint curves can be found in the central area of ​​the control deviation map, which is the blank safety image region.

[0073] It should be noted that the shape of the aforementioned blank security image area is determined according to the configuration of the target constellation. When the target constellation has a different configuration than described above, the aforementioned blank security image area can also be a blank image area of ​​a shape other than a quadrilateral.

[0074] In practice, the coordinate data of the vertices of the blank safety image region based on the control deviation map can be obtained; then, according to the shape of the blank safety image region, the corresponding vertices can be selected; the coordinate data of the corresponding vertices can be obtained and used, and the required deviation control slope can be determined by calculating the slope of the line connecting the corresponding vertices.

[0075] Taking the Walker constellation as an example, the aforementioned vertices may specifically include: the first vertex located at the upper left corner of the blank safe image area, the second vertex located at the upper right corner of the blank safe image area, the third vertex located at the lower left corner of the blank safe image area, and the fourth vertex located at the lower right corner of the blank safe image area.

[0076] At this point, the first and fourth vertices can be selected as the corresponding vertices; then, based on the coordinate data of the first and fourth vertices, the slope of the corresponding connecting line can be calculated to determine the required deviation control slope, for example, -1.1581.

[0077] Based on the above embodiments, the required deviation control slope can be determined efficiently and accurately using the deviation control chart.

[0078] S305: Based on the deviation control slope, perform corresponding phase compensation control on the candidate satellites in the target constellation.

[0079] For specific implementation, please refer to Figure 5 As shown, the phase compensation control of the candidate satellites in the target constellation based on the aforementioned deviation control slope may specifically include the following: S5-1: Obtain the control value of the right ascension of the ascending node, the nominal value of the right ascension of the ascending node, and the nominal value of the phase of the candidate satellite; S5-2: Determine the phase deviation compensation of the candidate satellite based on the control value of the right ascension of the ascending node, the nominal value of the right ascension of the ascending node, the nominal value of the phase, and the deviation control slope. S5-3: Based on the phase deviation compensation of the candidate satellite, perform corresponding phase compensation control on the candidate satellite.

[0080] The nominal phase values ​​and the nominal right ascension of the ascending node of the aforementioned candidate satellites can be determined based on the satellite information of the candidate satellites and the associated data of the target constellation.

[0081] The control values ​​for the right ascension of the ascending node of the aforementioned candidate satellites can be obtained through actual measurements or calculated based on the adopted right ascension control strategy. The right ascension control strategy can specifically include various different types of right ascension control strategies.

[0082] In practice, a preset compensation model can be used to determine the phase deviation compensation for the candidate satellite by processing the control value of the right ascension of the ascending node, the nominal value of the right ascension of the ascending node, the nominal value of the phase, and the deviation control slope.

[0083] Specifically, the aforementioned pre-set compensation model can be an algorithm model trained in advance using a large amount of experimental test data through reinforcement learning.

[0084] In practice, the deviation value of the right ascension of the ascending node can be calculated first based on the control value and nominal value of the right ascension of the ascending node of the candidate satellite; then the product of the deviation value and the deviation control slope can be calculated and summed with the nominal value of the phase to obtain the control value of the phase that meets the requirements; then the corresponding phase deviation compensation can be determined based on the control value of the phase and the nominal value of the phase.

[0085] In practice, the phase type of the candidate satellite can be determined first based on its satellite information. Then, based on the phase type, a matching target compensation processing rule can be determined from a set of preset compensation rules. Based on the target compensation processing rule, different phase types can be distinguished, and the deviation control slope can be used to perform more targeted phase compensation control on the candidate satellite.

[0086] Based on the above embodiments, by utilizing the deviation control slope to perform corresponding phase compensation control on candidate satellites in the target constellation, on the one hand, it avoids blindly performing phase compensation control on all satellites in the target constellation without distinction, effectively reducing the overall cost; on the other hand, by introducing and using the deviation control slope for phase compensation control, it is possible to fully utilize the data relationship between the right ascension deviation of the ascending node and the phase deviation between different candidate satellites in the same candidate satellite combination, and control the right ascension deviation of the ascending node and the phase deviation between candidate satellites that may collide in the same candidate satellite combination within a safe range (e.g., Figure 2 Within the red area at the center of the blank safety image area, it can effectively avoid collisions between candidate satellites during deployment and operation, thus ensuring the safety of the target constellation.

[0087] In some embodiments, a target constellation may include one or more candidate satellite combinations. Specifically, each candidate satellite combination may include at least two neighboring candidate satellites in the target constellation; wherein, the two neighboring candidate satellites can be understood as two satellites in the target constellation whose minimum inter-satellite distance is less than a preset reference distance threshold. In some cases, for a certain constellation configuration, the candidate satellite combination may also include three or more neighboring candidate satellites.

[0088] In some embodiments, the above method may further include: establishing a current control deviation constraint curve corresponding to the current candidate satellite combination in the following manner: S1: Obtain the orbital inclination of the target constellation; and based on the orbital inclination of the target constellation, construct the current encounter curve for the first and second candidate satellites in the current candidate satellite combination; S2: Construct local ascending node right ascension control deviations for the first and second candidate satellites; S3: Determine the corresponding local phase control deviation based on the current encounter curve and the local ascending node right ascension control deviation; S4: Based on the local ascending node right ascension control deviation and the local phase control deviation, construct the current control deviation constraint curve corresponding to the current candidate satellite combination.

[0089] In practice, the above-mentioned embodiment on constructing the current control deviation constraint curve of the current candidate satellite combination can be referred to to construct the control deviation constraint curve of each candidate satellite combination of the target constellation, and then establish the corresponding deviation control chart.

[0090] Based on the above embodiments, control deviation constraint curves corresponding to the candidate satellite combinations in the target constellation can be plotted and constructed, thereby establishing a deviation control chart that can accurately characterize the data relationship between the ascending node right ascension deviation and phase deviation between different candidate satellites in the candidate satellite combination.

[0091] In some embodiments, determining the deviation control slope based on the control deviation diagram may include the following: S1: In the control deviation map, a blank safe image area is determined, centered on the origin and surrounded by control deviation constraint curves of different candidate satellite combinations. S2: Determine the deviation control slope based on the blank security image area.

[0092] In practice, the process can begin by fitting the control deviation constraint curves of candidate satellite combinations to the control deviation map, thus determining the inner envelope contour of the control deviation constraint curves for the candidate satellite combinations that is closest to the origin (coordinates (0,0)). Then, based on this envelope contour, the blank image regions centered at the origin and surrounded by the control deviation constraint curves of different candidate satellite combinations are identified by searching for blank image regions that match this contour in the control deviation map. This allows for the rapid and accurate identification of qualified blank image regions.

[0093] In some embodiments, when the target constellation has the configuration of the Walker constellation, the aforementioned blank security image area may specifically include a blank quadrilateral image area. This quadrilateral may be a parallelogram, an irregular quadrilateral, etc. Of course, in specific implementations, depending on different situations and constellation configurations, the aforementioned blank security image area may also include blank image areas of other shapes. This specification does not limit this.

[0094] In some embodiments, determining the out-of-deviation control slope based on the blank safety image region may specifically include the following: obtaining the coordinate data of the vertices of the blank safety image region based on the control deviation map; and determining the out-of-deviation control slope based on the coordinate data of the vertices.

[0095] In practice, the corresponding vertices can be determined and connected based on the coordinate data of the vertices to obtain the feature lines about the blank security image area; then, the slope of the feature lines can be calculated to determine the corresponding deviation control slope.

[0096] In some embodiments, specifically when the constellation configuration of the target constellation is the Walker constellation, the vertices may specifically include: a first vertex, a second vertex, a third vertex, and a fourth vertex; wherein, the first vertex is the vertex located at the upper left corner of the blank security image area, the second vertex is the vertex located at the upper right corner of the blank security image area, the third vertex is the vertex located at the lower left corner of the blank security image area, and the fourth vertex is the vertex located at the lower right corner of the blank security image area. See details in [reference needed]. Figure 2 As shown.

[0097] In some embodiments, determining the deviation control slope based on the coordinate data of the vertex, as described above, may specifically include the following: Based on the coordinate data of the first vertex and the coordinate data of the fourth vertex, the deviation control slope is determined by calculating the slope of the line connecting the first vertex and the fourth vertex. And / or, Based on the coordinate data of the second and third vertices, the deviation control slope is determined by calculating the slope of the line connecting the second and third vertices.

[0098] Based on the above embodiments, one or more line slopes can be selected and used as deviation control slopes according to specific circumstances to adapt to diverse needs.

[0099] In some embodiments, determining the deviation control slope based on the coordinate data of the vertex may further include the following: S1: Detect whether the orbital tilt angle of the target constellation is greater than the preset tilt angle threshold; S2: When the orbital inclination angle of the target constellation is less than or equal to the preset inclination angle threshold, the deviation control slope is determined by calculating the slope of the line connecting the first and fourth vertices based on the coordinate data of the first and fourth vertices. S3: When the orbital inclination of the target constellation is greater than the preset inclination threshold, the deviation control slope is determined by calculating the slope of the line connecting the second and third vertices based on the coordinate data of the second and third vertices.

[0100] Specifically, the preset tilt angle threshold can be 90 degrees.

[0101] In practice, when the orbital inclination angle of the target constellation is less than or equal to a preset inclination angle threshold, the first and fourth vertices can be selected as the corresponding vertices; then the slope of the line connecting the first and fourth vertices is calculated and used as the deviation control slope. When the orbital inclination angle of the target constellation is greater than the preset inclination angle threshold, the second and third vertices can be selected as the corresponding vertices; then the slope of the line connecting the second and third vertices is calculated and used as the deviation control slope.

[0102] In this way, the orbital inclination of the target constellation can be fully considered, and the orbital control of the satellites in the target constellation can be combined to accurately determine the slope that is easy to control and has a relatively large control adjustment range as the deviation control slope, so that corresponding phase compensation control can be carried out in a large range in the future.

[0103] In some embodiments, the aforementioned phase compensation control of candidate satellites in the target constellation based on the deviation control slope may specifically include the following: S1: Obtain the control value of the right ascension of the ascending node, the nominal value of the right ascension of the ascending node, and the nominal value of the phase of the candidate satellite; S2: Determine the phase deviation compensation of the candidate satellite based on the control value of the right ascension of the ascending node, the nominal value of the right ascension of the ascending node, the nominal value of the phase, and the deviation control slope. S3: Based on the phase deviation compensation of the candidate satellite, perform corresponding phase compensation control on the candidate satellite.

[0104] Based on the above embodiments, the deviation control slope can be used efficiently and accurately to perform corresponding phase compensation control on candidate satellites in the target constellation that may collide, so as to ensure the deployment and operation safety of the target constellation satellites.

[0105] In some embodiments, the aforementioned phase compensation control is performed on the candidate satellites in the target constellation according to the deviation control slope. For specific implementation, please refer to [reference needed]. Figure 6 As shown, it may also include the following: S6-1: Based on the satellite information of the candidate satellite, determine the phase type of the candidate satellite's current stage; wherein, the phase type includes: configuration deployment stage or configuration maintenance stage; S6-2: Determine the matching target compensation processing rules based on the stage type; S6-3: According to the target compensation processing rules, the candidate satellite is subjected to corresponding phase compensation control using the deviation control slope.

[0106] Specifically, the aforementioned configuration deployment phase refers to the stage where the satellite is deployed to a designated orbit, but has not yet reached that orbit. The aforementioned configuration maintenance phase refers to the stage where the satellite is maintained in normal operation after it has been deployed to the designated orbit.

[0107] In practice, based on the stage type, a preset set of compensation rules can be queried to determine the matching target compensation processing rules.

[0108] The preset compensation rule set can contain multiple preset compensation rules, each corresponding to a different stage type. Specifically, these preset compensation rules can be determined in advance through clustering learning of a large number of compensation processing records for different stage types.

[0109] Based on the above embodiments, different stage types can be effectively distinguished, and candidate satellites can be refined and targeted for phase compensation control according to the matching target compensation processing rules.

[0110] In some embodiments, when the phase type is the configuration deployment phase, the above-mentioned phase compensation control of the candidate satellites based on the target compensation processing rules and the deviation control slope may include the following: S1: According to the target compensation processing rules, obtain the control value of the right ascension of the ascending node, the nominal value of the right ascension of the ascending node, and the nominal value of the phase of the candidate satellite; S2: Determine the phase deviation compensation of the candidate satellite based on the control value of the right ascension of the ascending node, the nominal value of the right ascension of the ascending node, the nominal value of the phase, and the deviation control slope. S3: Using the phase deviation compensation and the nominal phase value, determine the corrected phase control value; S4: Adjust the orbit control scheme for phase acquisition of candidate satellites based on the corrected phase control values; S5: Deploy the candidate satellite according to the adjusted phase acquisition orbit control scheme.

[0111] In practice, the phase difference between the satellite and the corrected phase control value can be reduced by adjusting the dwell time of the satellite in the drift orbit and utilizing the relative drift speed between the drift orbit and the target orbit, so as to achieve the capture of the corrected phase control value while deploying to the target altitude.

[0112] Based on the above embodiments, according to the matching target compensation processing rules, candidate satellites can be accurately and safely deployed to designated orbits, avoiding collisions between candidate satellites and other satellites during deployment, and effectively ensuring the safety of satellite deployment.

[0113] In some embodiments, when the stage type is a configuration maintenance stage, the step of performing corresponding phase compensation control on the candidate satellite according to the target compensation processing rule and using the deviation control slope may specifically include the following: S1: Determine the deviation safety margin of the candidate satellites according to the target compensation processing rules; S2: Based on the deviation safety margin of the candidate satellite, determine the type of fluctuation amplitude retention of the candidate satellite with respect to the right ascension of the ascending node after deployment; S3: Determine the matching target detection frequency based on the fluctuation amplitude maintenance type; S4: Based on the target detection frequency, periodically acquire the control value of the current ascending node right ascension, the nominal value of the current ascending node right ascension, and the nominal value of the current phase of the candidate satellite; S5: Determine the current phase deviation compensation of the candidate satellite based on the control value of the current ascending node right ascension, the nominal value of the current ascending node right ascension, the nominal value of the current phase, and the deviation control slope. S6: Utilize the current phase offset compensation of the candidate satellite to perform current phase compensation adjustment on the candidate satellite.

[0114] Specifically, the aforementioned fluctuation range maintenance types can include: small-amplitude maintenance and large-amplitude maintenance. Specifically, small-amplitude maintenance means allowing the candidate satellite to fluctuate within a relatively small safety range based on the control values ​​of the current ascending node right ascension and the current phase. Large-amplitude maintenance refers to relatively small-amplitude maintenance, allowing the candidate satellite to fluctuate within a relatively large safety range based on the control values ​​of the current ascending node right ascension and the current phase.

[0115] In practice, the deviation safety margin of a candidate satellite can be determined first based on the target compensation processing rules, combined with the constellation configuration of the target constellation, the number of satellites included in the target constellation, and the satellite information of relevant candidate satellites. Then, it is checked whether the deviation safety margin is greater than a preset margin reference threshold. If it is greater, the fluctuation amplitude maintenance type of the candidate satellite is determined to be large-amplitude maintenance; otherwise, the fluctuation amplitude maintenance type of the candidate satellite is determined to be small-amplitude maintenance.

[0116] Then, based on the fluctuation amplitude and type, a matching target detection frequency can be determined; based on the target detection frequency, the control value of the current ascending node right ascension, the nominal value of the current ascending node right ascension, and the nominal value of the current phase of the candidate satellite can be obtained periodically.

[0117] Specifically, for example, when maintaining a small amplitude, a relatively small detection frequency is determined as the target detection frequency; and based on this target detection frequency, the control value of the current ascending node right ascension, the nominal value of the current ascending node right ascension, and the nominal value of the current phase of the candidate satellite are periodically acquired, and the corresponding current phase deviation compensation of the candidate satellite is determined to avoid fluctuations in the actual current ascending node right ascension control value and current phase control value of the candidate satellite exceeding the safe range.

[0118] Conversely, when maintaining a large amplitude, a relatively large detection frequency can be determined as the target detection frequency; and based on this target detection frequency, the control values ​​of the current right ascension of the ascending node and the current phase of the candidate satellite can be monitored and compensated online to avoid fluctuations in the control values ​​of the current right ascension of the ascending node and the current phase of the candidate satellite exceeding the safe range.

[0119] Furthermore, in practical implementation, a matching target orbit control strategy can be determined based on the target compensation processing rules. According to this strategy, the candidate satellite is first coarsely adjusted in half-major axis to generate phase drift velocity, rapidly reducing the phase difference with the nominal value of the current phase. When the phase difference between the candidate satellite and the nominal value of the current phase is detected to be less than a preset first phase difference threshold, the half-major axis is finely controlled to decelerate the satellite. When the first phase difference threshold is reached, or the phase difference with the first phase difference threshold is less than a preset second phase difference threshold, the phase is deemed to have met the target, and the half-major axis is maintained, with phase locking preventing further drift. The preset second phase difference threshold is less than the preset first phase difference threshold.

[0120] Based on the above embodiments, according to the matching target compensation processing rules, candidate satellites can be accurately and safely operated and maintained in a designated orbit, avoiding collisions between candidate satellites and other satellites during the maintenance process, and effectively ensuring the safety of satellite operation.

[0121] In some embodiments, the above-mentioned determination of a suitable candidate satellite combination based on the constellation configuration of the target constellation and the satellite information of the satellites included in the target constellation may specifically include the following: S1: Based on the constellation configuration of the target constellation and the satellite information of the satellites contained in the target constellation, calculate the minimum inter-satellite distance between different satellites in the target constellation; S2: Based on the minimum inter-satellite distance between different satellites, select nearby satellites to combine, and obtain a candidate satellite combination that meets the requirements.

[0122] In practice, based on the minimum inter-satellite spacing between different satellites, two satellites with a minimum inter-satellite spacing less than a preset reference distance threshold can be selected and combined to obtain a candidate satellite combination that meets the requirements.

[0123] As can be seen from the above, the constellation satellite compensation control method provided in the embodiments of this specification first obtains the constellation configuration of the target constellation and the satellite information of the satellites contained in the target constellation; then, based on the constellation configuration of the target constellation and the satellite information of the satellites contained in the target constellation, a candidate satellite combination that meets the requirements is determined; wherein, the candidate satellite combination includes at least two candidate satellites in the target constellation that are close to each other; then, a control deviation map is established by constructing a control deviation constraint curve for the candidate satellite combination; wherein, the control deviation map is used to characterize the data relationship between the right ascension deviation of the ascending node and the phase deviation between different candidate satellites in the candidate satellite combination; based on the control deviation map, the deviation control slope is determined; and based on the deviation control slope, corresponding phase compensation control is performed on the candidate satellites in the target constellation. By determining and utilizing the deviation control slope based on the control deviation map, and making full use of the data relationship between the right ascension deviation of the ascending node and the phase deviation between different satellites in the same constellation, it is possible to achieve efficient and accurate compensation control of satellites in large-scale complex constellations such as low-Earth orbit mega-constellations at a relatively low cost, so as to effectively reduce the risk of collision between satellites and ensure the deployment and operation safety of satellites in the constellation.

[0124] This specification provides an electronic device through its embodiments. (See attached document.) Figure 7 As shown. The electronic device includes a network communication port 701, a processor 702, and a memory 703. These structures are connected by internal cables so that they can perform specific data interaction.

[0125] Specifically, the network communication port 701 can be used to obtain the constellation configuration of the target constellation and the satellite information of the satellites contained in the target constellation.

[0126] The processor 702 is specifically configured to determine a suitable candidate satellite combination based on the constellation configuration of the target constellation and the satellite information of the satellites contained in the target constellation; wherein the candidate satellite combination includes at least two adjacent candidate satellites in the target constellation; a control deviation map is established by constructing control deviation constraint curves for the candidate satellite combination; wherein the control deviation map is used to characterize the data relationship between the ascending node right ascension deviation and phase deviation between different candidate satellites in the candidate satellite combination; the deviation control slope is determined based on the control deviation map; and corresponding phase compensation control is performed on the candidate satellites in the target constellation based on the deviation control slope.

[0127] The memory 703 can be used to store the corresponding instruction program and related intermediate data.

[0128] Based on the above method, the relevant structural performance of electronic equipment can be effectively utilized to improve the data processing speed of electronic equipment and efficiently realize the data processing of constellation satellite compensation control.

[0129] In this embodiment, the network communication port 701 can be a virtual port bound to different communication protocols, thereby enabling the sending or receiving of different data. For example, the network communication port can be a port responsible for web data communication, a port responsible for FTP data communication, or a port responsible for email data communication. Furthermore, the network communication port can also be a physical communication interface or communication chip. For example, it can be a wireless mobile network communication chip, such as GSM or CDMA; it can also be a Wi-Fi chip; or it can be a Bluetooth chip.

[0130] In this embodiment, the processor 702 can be implemented in any suitable manner. For example, the processor can take the form of a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro)processor, logic gates, switches, application-specific integrated circuits (ASICs), programmable logic controllers, and embedded microcontrollers, etc. This specification is not limiting.

[0131] In this embodiment, the memory 703 may include multiple layers. In a digital system, anything that can store binary data can be a memory. In an integrated circuit, a circuit with storage function but no physical form is also called a memory, such as RAM, FIFO, etc. In a system, a storage device with a physical form is also called a memory, such as a memory stick, TF card, etc.

[0132] This specification also provides a computer-readable storage medium for a compensation control method based on the above-described constellation satellites. The computer-readable storage medium stores computer program instructions that, when executed, perform the following: acquiring the constellation configuration of a target constellation and satellite information of the satellites included in the target constellation; determining a suitable candidate satellite combination based on the constellation configuration and satellite information of the target constellation; wherein the candidate satellite combination includes at least two adjacent candidate satellites in the target constellation; establishing a control deviation map by constructing control deviation constraint curves for the candidate satellite combination; wherein the control deviation map characterizes the data relationship between the ascending node right ascension deviation and phase deviation between different candidate satellites in the candidate satellite combination; determining the deviation control slope based on the control deviation map; and performing corresponding phase compensation control on the candidate satellites in the target constellation based on the deviation control slope.

[0133] In this embodiment, the storage medium includes, but is not limited to, Random Access Memory (RAM), Read-Only Memory (ROM), Cache, Hard Disk Drive (HDD), or Memory Card. The memory can be used to store computer program instructions. The network communication unit can be an interface configured according to standards specified in the communication protocol for network connection communication.

[0134] In this embodiment, the specific functions and effects implemented by the program instructions stored in the computer-readable storage medium can be explained in comparison with other embodiments, and will not be repeated here.

[0135] This specification also provides a computer program product, comprising at least a computer program that, when executed by a processor, implements the following method steps: obtaining the constellation configuration of a target constellation and satellite information of the satellites contained in the target constellation; determining a candidate satellite combination that meets the requirements based on the constellation configuration of the target constellation and the satellite information of the satellites contained in the target constellation; wherein the candidate satellite combination includes at least two adjacent candidate satellites in the target constellation; establishing a control deviation map by constructing a control deviation constraint curve for the candidate satellite combination; wherein the control deviation map is used to characterize the data relationship between the right ascension deviation of the ascending node and the phase deviation between different candidate satellites in the candidate satellite combination; determining the deviation control slope based on the control deviation map; and performing corresponding phase compensation control on the candidate satellites in the target constellation based on the deviation control slope.

[0136] See Figure 8 As shown, at the software level, this specification also provides a compensation control device for constellation satellites, which may specifically include the following structural modules: The acquisition module 801 can be used to acquire the constellation configuration of the target constellation and the satellite information of the satellites contained in the target constellation; The first determining module 802 can be specifically used to determine a candidate satellite combination that meets the requirements based on the constellation configuration of the target constellation and the satellite information of the satellites contained in the target constellation; wherein, the candidate satellite combination includes at least two candidate satellites that are close to each other in the target constellation; The module 803 is specifically used to establish a control deviation map by constructing control deviation constraint curves for candidate satellite combinations; wherein, the control deviation map is used to characterize the data relationship between the right ascension deviation of the ascending node and the phase deviation between different candidate satellites in the candidate satellite combination; The second determining module 804 can be specifically used to determine the deviation control slope based on the control deviation diagram. The compensation module 805 can be used to perform corresponding phase compensation control on the candidate satellites in the target constellation according to the deviation control slope.

[0137] In some embodiments, when the device is specifically implemented, a current control deviation constraint curve corresponding to the current candidate satellite combination can be established in the following manner: obtaining the orbital inclination of the target constellation; and constructing a current encounter curve for the first and second candidate satellites in the current candidate satellite combination based on the orbital inclination of the target constellation; constructing local ascending node right ascension control deviations for the first and second candidate satellites; determining the corresponding local phase control deviations based on the current encounter curves and the local ascending node right ascension control deviations; and constructing a current control deviation constraint curve corresponding to the current candidate satellite combination based on the local ascending node right ascension control deviations and the local phase control deviations.

[0138] In some embodiments, when the second determining module 804 is specifically implemented, the deviation control slope can be determined according to the control deviation map in the following manner: in the control deviation map, a blank safe image region centered on the origin and surrounded by control deviation constraint curves of different candidate satellite combinations is determined; the deviation control slope is determined according to the blank safe image region.

[0139] In some embodiments, the blank security image area may specifically include: a blank quadrilateral image area, etc.

[0140] In some embodiments, when the second determining module 804 is specifically implemented, the deviation control slope can be determined based on the blank safety image region in the following manner: obtaining the coordinate data of the vertices of the blank safety image region based on the control deviation map; and determining the deviation control slope based on the coordinate data of the vertices.

[0141] In some embodiments, the vertex may specifically include: a first vertex, a second vertex, a third vertex, and a fourth vertex; wherein, the first vertex is the vertex located at the upper left corner of the blank security image area, the second vertex is the vertex located at the upper right corner of the blank security image area, the third vertex is the vertex located at the lower left corner of the blank security image area, and the fourth vertex is the vertex located at the lower right corner of the blank security image area.

[0142] In some embodiments, when the second determining module 804 is specifically implemented, the deviation control slope can be determined according to the coordinate data of the vertex in the following manner: the deviation control slope is determined by calculating the slope of the line connecting the first vertex and the fourth vertex based on the coordinate data of the first vertex and the fourth vertex; and / or, the deviation control slope is determined by calculating the slope of the line connecting the second vertex and the third vertex based on the coordinate data of the second vertex and the third vertex.

[0143] In some embodiments, when the second determining module 804 is specifically implemented, the deviation control slope can also be determined according to the coordinate data of the vertices in the following manner: detecting whether the orbital inclination angle of the target constellation is greater than a preset inclination angle threshold; when the orbital inclination angle of the target constellation is less than or equal to the preset inclination angle threshold, the deviation control slope is determined by calculating the slope of the line connecting the first vertex and the fourth vertex based on the coordinate data of the first vertex and the coordinate data of the fourth vertex; when the orbital inclination angle of the target constellation is greater than the preset inclination angle threshold, the deviation control slope is determined by calculating the slope of the line connecting the second vertex and the third vertex based on the coordinate data of the second vertex and the coordinate data of the third vertex.

[0144] In some embodiments, when the compensation module 805 is specifically implemented, it can perform corresponding phase compensation control on the candidate satellites in the target constellation according to the deviation control slope in the following manner: obtaining the control value of the right ascension of the ascending node, the nominal value of the right ascension of the ascending node, and the nominal value of the phase of the candidate satellite; determining the phase deviation compensation of the candidate satellite according to the control value of the right ascension of the ascending node, the nominal value of the right ascension of the ascending node, the nominal value of the phase, and the deviation control slope; and performing corresponding phase compensation control on the candidate satellite according to the phase deviation compensation of the candidate satellite.

[0145] In some embodiments, when the compensation module 805 is specifically implemented, it can perform corresponding phase compensation control on the candidate satellites in the target constellation according to the deviation control slope in the following manner: determining the phase type of the current phase of the candidate satellite based on the satellite information of the candidate satellite; wherein, the phase type includes: configuration deployment phase or configuration maintenance phase; determining a matching target compensation processing rule based on the phase type; and performing corresponding phase compensation control on the candidate satellites using the deviation control slope according to the target compensation processing rule.

[0146] In some embodiments, when the phase type is the configuration deployment phase, the compensation module 805, when specifically implemented, can perform corresponding phase compensation control on the candidate satellite according to the target compensation processing rules and the deviation control slope in the following manner: According to the target compensation processing rules, obtain the control value of the right ascension of the ascending node, the nominal value of the right ascension of the ascending node, and the nominal value of the phase of the candidate satellite; determine the phase deviation compensation of the candidate satellite according to the control value of the right ascension of the ascending node, the nominal value of the right ascension of the ascending node, the nominal value of the phase, and the deviation control slope; determine the corrected phase control value using the phase deviation compensation and the nominal phase value; adjust the orbit control scheme for phase acquisition of the candidate satellite according to the corrected phase control value; and deploy the candidate satellite according to the adjusted orbit control scheme for phase acquisition.

[0147] In some embodiments, when the stage type is the configuration maintenance stage, the compensation module 805, when specifically implemented, can perform corresponding phase compensation control on the candidate satellite according to the target compensation processing rules and the deviation control slope in the following manner: Determine the deviation safety margin of the candidate satellite according to the target compensation processing rules; determine the fluctuation amplitude maintenance type of the candidate satellite with respect to the right ascension of the ascending node after deployment based on the deviation safety margin of the candidate satellite; determine the matching target detection frequency based on the fluctuation amplitude maintenance type; periodically acquire the control value of the current right ascension of the ascending node, the nominal value of the current right ascension of the ascending node, and the nominal value of the current phase of the candidate satellite according to the target detection frequency; determine the current phase deviation compensation of the candidate satellite based on the control value of the current right ascension of the ascending node, the nominal value of the current right ascension of the ascending node, the nominal value of the current phase, and the deviation control slope; and adjust the current phase compensation of the candidate satellite using the current phase deviation compensation.

[0148] In some embodiments, when the first determining module 802 is specifically implemented, it can determine the candidate satellite combination that meets the requirements according to the constellation configuration of the target constellation and the satellite information of the satellites contained in the target constellation in the following manner: calculate the minimum inter-satellite distance between different satellites in the target constellation according to the constellation configuration of the target constellation and the satellite information of the satellites contained in the target constellation; select nearby satellites according to the minimum inter-satellite distance between different satellites to combine them, and obtain the candidate satellite combination that meets the requirements.

[0149] It should be noted that the units, devices, or modules described in the above embodiments can be implemented by computer chips or physical entities, or by products with certain functions. For ease of description, the above devices are described by dividing them into various modules according to their functions. Of course, in implementing this specification, the functions of each module can be implemented in one or more software and / or hardware, or the module that implements the same function can be implemented by a combination of multiple sub-modules or sub-units, etc. The device embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and there may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection between the devices or units shown or discussed can be through some interfaces, and the indirect coupling or communication connection between devices or units can be electrical, mechanical, or other forms.

[0150] As can be seen from the above, the compensation control device for constellation satellites provided in the embodiments of this specification, by determining and utilizing the deviation control slope based on the control deviation map, and making full use of the data relationship between the right ascension deviation of the ascending node and the phase deviation between different satellites in the same constellation, can efficiently and accurately achieve compensation control of satellites in large-scale complex constellations such as low-Earth orbit mega-constellations at a relatively low cost, so as to effectively reduce the risk of collision between satellites and ensure the deployment and operation safety of satellites in the constellation.

[0151] In a specific scenario example, the constellation satellite compensation control method provided in this specification can be applied to maintain the constellation configuration based on ascending node right ascension and phase coupling control. The specific implementation process may include the following.

[0152] In this scenario example, a model algorithm for a constellation configuration maintenance strategy using ascending node right ascension and phase coupling control is introduced. Its core is the calculation of the phase compensation deviation (e.g., phase deviation compensation) based on a given ascending node right ascension deviation and a slope *b* determined by the constellation configuration. Therefore, its inputs include the nominal ascending node right ascension (e.g., the nominal value of ascending node right ascension), the actual ascending node right ascension (e.g., the control value of ascending node right ascension), the control slope *b*, and the nominal phase (e.g., the nominal value of phase). The output is the phase compensation deviation or the compensated and corrected phase value. It can be applied in the final step of calculating the phase capture and phase maintenance reference star, calculating the reference correction value of the phase from the ascending node right ascension deviation to obtain the actual control phase, thus establishing a coupling bridge between in-plane and out-of-plane control. In specific implementation, it may include the following steps.

[0153] Step 1: Calculate the minimum distance between any two stars within the constellation based on the specific constellation configuration, and record the combination of right ascension difference and phase difference of several ascending nodes that are relatively close.

[0154] Step 2: Plot the control deviation constraint curves of the combinations that are closest in distance from the previous step on the control deviation chart, i.e., the meeting curves (relationship formula). The local magnification near these combinations can be obtained by constructing the ascending node right ascension control deviation near the combination and then solving the phase deviation of the corresponding encounter curve relationship. The result is approximately a straight line, as shown in the diagram above. These curves represent the danger warning of constellation control deviation. If the control deviation causes the ascending node right ascension and phase difference between the two stars to touch these curves, the theoretical minimum distance between the two stars is 0, and there is a risk of internal collision.

[0155] Step 3: Determine the control slope b by using the graph enclosed by the combined constraint curves in the control deviation graph. Calculate the control slope b by connecting the upper left and lower right vertices of the parallelogram-like blank area (different configurations may have different shapes) enclosed by the curves in the graph, so that the difference between any two stars in the constellation after applying the control strategy is distributed as shown by the scatter points in the graph.

[0156] Step 4: Based on the control slope b obtained in the previous step, apply the constellation configuration maintenance strategy of ascending node right ascension and phase coupling control in the configuration deployment and configuration maintenance stages. Calculate the phase compensation deviation from the given ascending node right ascension deviation to construct the coupling bridge between in-plane and out-of-plane control.

[0157] Step 4 may further include the following.

[0158] Step 4.1: During the configuration deployment phase, the corresponding expected phase is calculated and adjusted based on the control slope b and the expected right ascension of the ascending node. After generating the phase acquisition orbit control scheme, the phase supplementary deviation is calculated based on the difference between the expected right ascension of the ascending node and the nominal value, and the compensated and corrected phase value is obtained. This phase value is used as the final target phase value to fine-tune the phase acquisition orbit control scheme, so that the satellite follows the constellation configuration maintenance strategy of ascending node right ascension and phase coupling control after reaching the orbit position.

[0159] Step 4.2: During the configuration maintenance phase, the right ascension of the ascending node can be maintained slightly near its actual value after deployment, or it can be maintained significantly by constructing a control limit loop based on the distribution range and inclination of the right ascension after deployment. For the phase, a constellation configuration maintenance strategy using ascending node right ascension and phase coupling control is applied. Compensated phase values ​​under this strategy are periodically calculated based on the control slope b and the difference between the actual and nominal ascending node right ascension. This phase is used as the reference phase for phase maintenance of the satellite. If there is a deviation, the satellite phase is fine-tuned; otherwise, phase maintenance is performed normally.

[0160] Furthermore, it should be added that the above method constructs a coupling bridge between the right ascension of the ascending node and phase control. It does not restrict the specific control strategy of the right ascension of the ascending node, and its control effect will vary depending on the control strategy of the right ascension of the ascending node. The specific control results corresponding to different control strategies (e.g., different control strategies of the right ascension of the ascending node) are shown below.

[0161] 1) Precise right ascension capture is achieved through an ascending node right ascension control strategy. Long-term drift of the ascending node right ascension is mitigated using ascending node right ascension and phase coupling control methods to improve constellation internal security. Specific control results can be found in [reference needed]. Figure 9 As shown, the control deviation distribution within the 60° constellation at 3450 / 75 / 74:550km was simulated under this control mode. The in-plane ascending node right ascension acquisition accuracy was set to precise acquisition, the long-term drift control accuracy of the ascending node right ascension was ±0.05° and was canceled by the ascending node right ascension and phase coupling control mode, and the phase control accuracy was ±0.05°.

[0162] 2) Instead of precise capture control of the ascending node's right ascension, the system utilizes ascending node right ascension and phase coupling control to improve constellation internal security, while simultaneously achieving high-precision control of the long-term drift accuracy of the ascending node's right ascension. Specific control results can be found in [reference needed]. Figure 10 As shown, the control deviation distribution within the constellation at 3450 / 75 / 74:550km and 60° was simulated under this control mode. The in-plane ascending node right ascension acquisition accuracy was set to ±0.30° (considering orbit insertion at 400~500km, the deviation of the ascending node right ascension during phase acquisition under altitude control only was calculated based on a 60° inclination angle). The calculated result is approximately 0.3° (this value is used to set the accuracy). The drift is offset by the right ascension of the ascending node and the phase coupling control method. The long-term drift control accuracy of the right ascension of the ascending node is ±0.05°, and the phase control accuracy is ±0.05°.

[0163] 3) Precise capture control of the ascending node's right ascension is not performed. Both the capture accuracy and long-term drift accuracy of the ascending node's right ascension are improved using a combination of ascending node right ascension and phase coupling control. Specific control results can be found in [reference needed]. Figure 11 As shown, the control deviation distribution within the 60° constellation at 3450 / 75 / 74:550km was simulated under this control mode. The in-plane right ascension capture accuracy of the ascending node was set to ±0.30° (setting principle as above) and the long-term drift control accuracy of the ascending node right ascension was set to ±0.05°. Both were canceled out by the ascending node right ascension and phase coupling control mode, with a phase control accuracy of ±0.05°.

[0164] 4) Instead of precise capture control of the ascending node's right ascension, the capture accuracy range is utilized to maintain a large range of ascending node right ascension over a long period. Specific control results can be found in [reference needed]. Figure 12As shown, the control deviation distribution within a 60° constellation at 3450 / 75 / 74:550km was simulated under this control method. The in-plane right ascension acquisition accuracy of the ascending node is set to ±0.30° (based on the same principle as above), and the long-term drift control accuracy of the ascending node right ascension is ±0.30°, which is included within the ascending node right ascension acquisition accuracy. The drift is periodically compensated using ascending node right ascension and phase coupling control, with a phase control accuracy of ±0.05°. This is a recommended method. Under this method, the control accuracy of the ascending node can also be gradually reduced through long-term control of the ascending node right ascension, thus gradually improving the internal safety of the constellation.

[0165] The above scenario examples verify the compensation control method for constellation satellites provided in this manual. By constructing phase compensation deviations, the impact of ascending node right ascension control deviations on the internal safety of the constellation is reduced. This relaxes the control requirements of the ascending node right ascension for large-scale constellations. It has the advantages of low fuel consumption, low implementation difficulty, small performance impact, and significant safety improvement. It can effectively reduce the number of collision avoidance operations within the constellation and ensure the safety of constellation satellite deployment and operation.

[0166] While this specification provides the steps of operation for the methods described in the embodiments or flowcharts, more or fewer steps may be included based on conventional or non-inventive means. The order of steps listed in the embodiments is merely one possible order of execution among many steps and does not represent the only possible order. In actual device or client product execution, the methods shown in the embodiments or drawings may be executed sequentially or in parallel (e.g., in a parallel processor or multi-threaded processing environment, or even a distributed data processing environment). The terms "comprising," "including," or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, product, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, product, or apparatus. Without further limitations, the presence of other identical or equivalent elements in a process, method, product, or apparatus that includes said elements is not excluded. The terms "first," "second," etc., are used to denote names and do not indicate any particular order.

[0167] Those skilled in the art will also know that, besides implementing the controller using purely computer-readable program code, the same functions can be achieved by logically programming the method steps, making the controller function as logic gates, switches, application-specific integrated circuits (ASICs), programmable logic controllers (PLCs), and embedded microcontrollers. Therefore, such a controller can be considered a hardware component, and the devices within it used to implement various functions can also be considered structures within that hardware component. Alternatively, the devices used to implement various functions can be considered as both software modules implementing the method and structures within a hardware component.

[0168] This specification can be described in the general context of computer-executable instructions that are executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, classes, etc., that perform a specific task or implement a specific abstract data type. This specification can also be practiced in distributed computing environments, where tasks are performed by remote processing devices connected via a communication network. In distributed computing environments, program modules can reside in local and remote computer-readable storage media, including storage devices.

[0169] As can be seen from the above description of the embodiments, those skilled in the art can clearly understand that this specification can be implemented by means of software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solutions of this specification can essentially be embodied in the form of a software product. This computer software product can be stored in a storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, mobile terminal, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments of this specification.

[0170] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to interchangeably. Each embodiment focuses on its differences from other embodiments. This specification can be used in numerous general-purpose or special-purpose computer system environments or configurations. Examples include: personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable electronic devices, network PCs, minicomputers, mainframe computers, and distributed computing environments including any of the above systems or devices, etc.

[0171] Although this specification has been described by way of examples, those skilled in the art will recognize that many variations and modifications are possible without departing from the spirit of this specification, and it is intended that the appended text include such variations and modifications without departing from the spirit of this specification.

Claims

1. A method of compensating control of constellation satellites, characterized by, The method comprises: obtaining the constellation configuration of a target constellation and satellite information of satellites included in the target constellation; determining a required candidate satellite combination according to the constellation configuration of the target constellation and the satellite information of the satellites included in the target constellation, wherein the candidate satellite combination at least includes two adjacent candidate satellites in the target constellation; establishing a control deviation graph by constructing a control deviation constraint curve of the candidate satellite combination, wherein the control deviation graph is used to represent the data relationship between the ascending node right ascension deviation and the phase deviation of different candidate satellites in the candidate satellite combination; determining a deviation control slope according to the control deviation graph; and performing corresponding phase compensation control on the candidate satellites in the target constellation according to the deviation control slope.

2. The method of claim 1, wherein, The method further comprises: establishing a current control deviation constraint curve corresponding to a current candidate satellite combination in the following manner: obtaining the orbit inclination of the target constellation; and constructing a current meeting curve about a first candidate satellite and a second candidate satellite in the current candidate satellite combination according to the orbit inclination of the target constellation; constructing a local ascending node right ascension control deviation about the first candidate satellite and the second candidate satellite; determining a corresponding local phase control deviation according to the current meeting curve and the local ascending node right ascension control deviation; constructing the current control deviation constraint curve corresponding to the current candidate satellite combination according to the local ascending node right ascension control deviation and the local phase control deviation.

3. The method of claim 1, wherein, The determination of the deviation control slope according to the control deviation graph comprises: determining, in the control deviation graph, a blank safety image region centered at the origin and surrounded by the control deviation constraint curves of different candidate satellite combinations; and determining the deviation control slope according to the blank safety image region.

4. The method of claim 3, wherein, The blank safety image region comprises a blank quadrilateral image region.

5. The method of claim 4, wherein, The determination of the deviation control slope according to the blank safety image region comprises: obtaining coordinate data of vertices of the blank safety image region based on the control deviation graph; and determining the deviation control slope according to the coordinate data of the vertices.

6. The method of claim 5, wherein, The vertices comprise a first vertex, a second vertex, a third vertex and a fourth vertex, wherein the first vertex is a vertex at the upper left corner of the blank safety image region, the second vertex is a vertex at the upper right corner of the blank safety image region, the third vertex is a vertex at the lower left corner of the blank safety image region, and the fourth vertex is a vertex at the lower right corner of the blank safety image region.

7. The method of claim 6, wherein, The determination of the deviation control slope according to the coordinate data of the vertices comprises: determining the deviation control slope by calculating the slope of the line connecting the first vertex and the fourth vertex according to the coordinate data of the first vertex and the fourth vertex; and / or determining the deviation control slope by calculating the slope of the line connecting the second vertex and the third vertex according to the coordinate data of the second vertex and the third vertex. The determination of the deviation control slope according to the coordinate data of the vertices further comprises:

8. The method of claim 7, wherein, detecting whether the orbit inclination of the target constellation is greater than a preset inclination threshold. ​ When the orbit inclination of the target constellation is less than or equal to the preset inclination threshold, the deviation control slope is determined according to the coordinate data of the first vertex and the coordinate data of the fourth vertex by calculating the slope of the line connecting the first vertex and the fourth vertex. When the orbit inclination of the target constellation is greater than the preset inclination threshold, the deviation control slope is determined according to the coordinate data of the second vertex and the coordinate data of the third vertex by calculating the slope of the line connecting the second vertex and the third vertex.

9. The method of claim 1, wherein, The phase compensation control of the candidate satellite in the target constellation according to the deviation control slope comprises: obtaining the control value of the right ascension of the ascending node of the candidate satellite, the nominal value of the right ascension of the ascending node, and the nominal value of the phase; determining the phase deviation compensation of the candidate satellite according to the control value of the right ascension of the ascending node of the candidate satellite, the nominal value of the right ascension of the ascending node, the nominal value of the phase, and the deviation control slope; controlling the phase compensation of the candidate satellite according to the phase deviation compensation of the candidate satellite.

10. The method of claim 9, wherein, The phase compensation control of the candidate satellite in the target constellation according to the deviation control slope further comprises: determining the phase type of the current stage of the candidate satellite according to the satellite information of the candidate satellite; wherein the phase type comprises a configuration deployment stage or a configuration maintenance stage; determining the matching target compensation processing rule according to the phase type; controlling the phase compensation of the candidate satellite according to the target compensation processing rule and the deviation control slope.

11. The method of claim 10, wherein, When the phase type is the configuration deployment stage, the phase compensation control of the candidate satellite according to the target compensation processing rule and the deviation control slope comprises: obtaining the control value of the right ascension of the ascending node of the candidate satellite, the nominal value of the right ascension of the ascending node, and the nominal value of the phase according to the target compensation processing rule; determining the phase deviation compensation of the candidate satellite according to the control value of the right ascension of the ascending node of the candidate satellite, the nominal value of the right ascension of the ascending node, the nominal value of the phase, and the deviation control slope; determining the corrected phase control value by using the phase deviation compensation and the nominal value of the phase; adjusting the orbit control scheme of the phase acquisition of the candidate satellite according to the corrected phase control value; deploying the candidate satellite according to the adjusted orbit control scheme of the phase acquisition.

12. The method of claim 10, wherein, When the phase type is the configuration maintenance stage, the phase compensation control of the candidate satellite according to the target compensation processing rule and the deviation control slope comprises: determining the deviation safety margin of the candidate satellite according to the target compensation processing rule; determining the fluctuation amplitude retention type of the right ascension of the ascending node of the candidate satellite after deployment according to the deviation safety margin of the candidate satellite; determining the matching target detection frequency according to the fluctuation amplitude retention type; periodically obtaining the control value of the current right ascension of the ascending node of the candidate satellite, the nominal value of the current right ascension of the ascending node, and the nominal value of the current phase according to the target detection frequency; determining a current phase deviation compensation of the candidate satellite according to a control value of a current longitude of ascending node of the candidate satellite, a nominal value of the current longitude of ascending node, a nominal value of a current phase, and a deviation control slope; adjusting a current phase compensation of the candidate satellite by using the current phase deviation compensation of the candidate satellite.

13. The method of claim 1, wherein, The method for determining the candidate satellite combination satisfying the requirements according to the constellation configuration of the target constellation and the satellite information of the satellites included in the target constellation comprises: calculating minimum inter-satellite distances between different satellites in the target constellation according to the constellation configuration of the target constellation and the satellite information of the satellites included in the target constellation; screening out satellites adjacent in distance for combination according to the minimum inter-satellite distances to obtain the candidate satellite combination satisfying the requirements.

14. A compensating control device for a constellation of satellites, characterized in that The method comprises: acquiring a constellation configuration of a target constellation and satellite information of satellites included in the target constellation; determining a candidate satellite combination satisfying the requirements according to the constellation configuration of the target constellation and the satellite information of the satellites included in the target constellation; wherein the candidate satellite combination at least comprises two candidate satellites adjacent in distance in the target constellation; establishing a control deviation graph by constructing a control deviation constraint curve of the candidate satellite combination; wherein the control deviation graph is used to represent a data relationship between a longitude of ascending node deviation and a phase deviation between different candidate satellites in the candidate satellite combination; determining a deviation control slope according to the control deviation graph; adjusting a corresponding phase compensation control of the candidate satellite in the target constellation according to the deviation control slope.

15. An electronic device, comprising: The computer program product comprises a processor and a memory for storing processor-executable instructions, and the processor executes the instructions to implement the steps of the method in any one of claims 1 to 13.

16. A computer-readable storage medium, characterized in that, The computer program product comprises a processor and a memory for storing processor-executable instructions, and the processor executes the instructions to implement the steps of the method in any one of claims 1 to 13.

17. A computer program product, characterised in that, The computer program product comprises a processor and a memory for storing processor-executable instructions, and the processor executes the instructions to implement the steps of the method in any one of claims 1 to 13.

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