A method for adjusting tasks of a ground station for continuous multi-target satellite simultaneous passing

Abstract

The application discloses a kind of continuous multi-target satellite simultaneously passing through ground station task adjustment method, belong to satellite ground application technical field, first pass through task planning and generate initial multi-star task plan, solve the original orbit prediction matrix of each target satellite;Subsequently, in combination with the entry section and the exit section of orbit prediction data are respectively executed filtering intercept change optimization to time window, obtain the optimized orbit prediction matrix;Again, through multi-task automatic arrangement and conflict resolution generate final executable task sequence;Finally, control ground station antenna based on the orbit data of optimization completes multi-star relay tracking and fast switching, the application is processed by filtering intercept change of orbit prediction data, realize the fast star of antenna, stable acquisition and smooth exit, greatly shorten the interval time and waiting time of task switching, effectively solve the single antenna task relay execution problem under the scene of continuous multi-target satellite simultaneously passing through station, significantly improve the utilization efficiency of ground station resource and on-orbit resource.

Description

Technical Field

[0001] This invention relates to the field of satellite ground application technology, and more specifically, to a ground station mission adjustment method for multiple target satellites passing through the station simultaneously. Background Technology

[0002] Satellite ground application equipment is a core component of the integrated space-air-ground system. LEO orbit satellites have a strong periodicity during transit, with each transit typically lasting only about 10 minutes. With the rapid expansion of space-based LEO satellite constellations, the number of satellite resources is increasing exponentially. However, existing ground stations are facing resource constraints due to construction costs, deployment cycles, and site conditions, leading to increasingly prominent resource shortages. The supply-demand imbalance between ground station and satellite resources has become a core bottleneck restricting the large-scale application of LEO satellite constellations.

[0003] In practical engineering applications, multiple low-orbit satellites frequently pass through ground stations simultaneously and continuously, placing extremely high demands on the ground station's multi-task scheduling and rapid switching capabilities. In existing technologies, to achieve continuous tracking of multiple satellites passing through, the patent "A Ground Satellite Antenna System Control and Tracking Method Based on Multi-Target Tasks" (application number: 202211498682.4) employs a dual-antenna collaborative control scheme, enabling relay tracking of multiple target satellites. However, this scheme relies on multiple antenna systems, resulting in high construction and maintenance costs, and cannot solve the problem of executing multi-satellite simultaneous passing tasks in a single-ground-station, single-antenna scenario.

[0004] For multi-satellite mission scheduling with a single antenna, existing technologies mostly adopt fixed-time mission planning schemes and perform antenna tracking control based on raw orbit prediction data, which has the following core drawbacks: The antenna entry and acquisition phase requires a long waiting and adjustment time, making it impossible to complete accurate pointing and stable acquisition before the data transmission mission begins, thus wasting valuable satellite transit time. During the departure phase after the mission, the antenna continues to track according to the original orbit data, resulting in a long departure waiting time. It cannot quickly reset to execute the next mission, and the mission switching efficiency is extremely low. In scenarios where multiple satellites pass through the station simultaneously, it is impossible to effectively resolve mission time conflicts, making it difficult to achieve continuous relay execution of multi-satellite missions. The time utilization rate of the ground station is less than 60%, which cannot meet the ground application needs of large-scale low-Earth orbit satellite constellations. Summary of the Invention

[0005] The purpose of this invention is to provide a ground station mission adjustment method for multiple target satellites passing through the station simultaneously, so as to solve the above-mentioned problems.

[0006] To achieve the above objectives, an embodiment of the present invention provides the following technical solution: A ground station mission adjustment method for simultaneous transit of multiple target satellites includes the following steps: S1 Mission Planning and Initial Plan Generation: Obtain basic parameters of the ground station and two-line orbit elements (TLE) ephemeris data of all low-Earth orbit satellites to be observed. Combine the ground station obstruction angle constraint and calculate the transit time window of each satellite to be observed through the SGP4 / SDP4 orbit prediction model to generate an initial multi-satellite mission plan that includes the transit time interval of multiple targets, mission type, and mission execution duration. S2 transit orbit prediction data calculation: For each target satellite in the initial multi-satellite mission plan, based on its ephemeris data and ground station basic parameters, through coordinate transformation from the geocentric inertial coordinate system to the station-centric horizontal coordinate system, the azimuth and elevation angles of the satellite's entire transit are calculated with a preset time step, generating an original orbit prediction matrix containing time series, azimuth series, and elevation angle series. S3 Orbit Prediction Data Filtering and Cut-off Optimization: For the original orbit prediction matrix of each target satellite, combined with the mission execution time window of the satellite in the initial multi-satellite mission plan, filtering and cutting-off processing is performed on the orbit prediction data of the approach and exit segments respectively to eliminate redundant data in the original orbit data that is not related to mission execution, and to fit and generate optimized orbit data that is adapted to the start and end times of the mission, and finally obtain the optimized orbit prediction matrix. S4 Multi-Task Automatic Orchestration and Conflict Resolution: Based on the optimized orbit prediction matrix of all target satellites, and with the rotation constraints of ground station antennas and the minimum interval of task switching as boundary conditions, the execution sequence of multi-satellite tasks is automatically orchestrated. The task conflict is adaptively resolved through a weighted evaluation model, generating a non-overlapping and executable final task sequence. S5 Mission Execution and Rapid Switching Control: The ground station antenna system, according to the final executable mission sequence and based on the optimized orbit prediction matrix of the corresponding satellite, sequentially completes pre-pointing, rapid acquisition, stable tracking, mission execution, and smooth departure for each target satellite, realizing rapid switching of single-antenna missions in scenarios where multiple target satellites pass through the station simultaneously.

[0007] As a further improvement of the present invention, in step S1, the basic parameters of the ground station include at least the geodetic coordinates of the ground station (longitude, latitude, altitude), as well as the minimum working obstruction angle, the maximum angular velocity of the antenna rotation, and the maximum angular acceleration of the antenna rotation; the transit time window is the time interval during which the satellite elevation angle is greater than or equal to the minimum working obstruction angle; and the task type includes satellite data transmission reception task and satellite remote control programming task.

[0008] As a further improvement of the present invention, in step S2, the preset time step is 1 second, and the expression of the generated original orbit prediction matrix is: ; Where TA is the time series, PA is the satellite azimuth sequence, PE is the satellite elevation sequence; Tk is the time node corresponding to the maximum elevation angle during satellite transit, M0 is the number of sampling points for the raw data of the inbound segment, N0 is the number of sampling points for the raw data of the outbound segment, and A i For T i The satellite azimuth angle corresponding to the time, E i For T i The satellite elevation angle corresponding to the time, where i is the sampling point number.

[0009] As a further improvement of the present invention, the specific process of performing filtering and truncation processing on the track prediction data of the station entry section in step S3 is as follows: taking the task execution start time T... on To determine the endpoint of the entry section, cut off T. on The previous duration was T pre The time interval is used as the optimization interval for the entry segment, where T pre The preset pre-pointing advance time is set, ranging from 5s to 30s; based on the original orbit prediction matrix, the azimuth angle A of the satellite at the Ton time is calculated. on Pitch angle E on , and T on The sampling time T before time step on−1 Azimuth A on−1 Pitch angle E on−1 Calculate the instantaneous angular velocities in the azimuth and pitch directions respectively:

[0010] Where Δt is the time step of the orbit prediction; and T is the time step of the orbit prediction. on Based on the position and instantaneous angular velocity at a given moment, a uniform acceleration motion model is used to backfit the azimuth and elevation angle sequences within the optimized section of the approach segment, generating optimized track data for the approach segment, thus enabling the antenna to accurately pre-point and quickly acquire at the start of the mission.

[0011] As a further improvement of the present invention, the specific process of performing filtering and truncation processing on the track forecast data of the departure section in step S3 is as follows: taking the task execution end time T... off As the starting point for the exit section, intercept T. off The duration is T. post The time interval is used as the optimization interval for the outbound segment, where T post The preset exit transition time ranges from 3s to 10s; based on the original track prediction matrix, T is calculated. off The azimuth angle A of the satellite at any given time off Pitch angle E off , and T off The sampling time T before time step off−1 Azimuth Aoff−1 Pitch angle E off−1 Calculate the instantaneous angular velocity and angular acceleration in the azimuth and pitch directions respectively:

[0012]

[0013] Among them, V′ A-1 V′ E-1 For T off-1 The instantaneous angular velocities in azimuth and pitch at each moment; denoted by T off Based on the position, instantaneous angular velocity, and angular acceleration at any given moment, a uniform acceleration motion model is used to positively fit the azimuth and elevation angle sequences within the optimized section of the departure segment, generating optimized track data for the departure segment, thus enabling the antenna to smoothly leave the station and quickly reset after the mission is completed.

[0014] As a further improvement of the present invention, in step S3, the optimized orbit prediction matrix expression is as follows:

[0015] Where TA′ is the optimized time series, PA′ is the optimized azimuth sequence, and PE′ is the optimized pitch sequence; M is the number of sampling points in the optimized section of the approach segment, and N is the number of sampling points in the optimized section of the exit segment; A′ off+m E′ off+m The optimized azimuth and elevation angles for the outgoing section, m=1,2,…,N, are calculated using the following formula: .

[0016] As a further improvement of the present invention, the specific process of automatic multi-task orchestration and conflict resolution in step S4 is as follows: Based on the optimized orbit prediction matrix of all target satellites, the effective mission execution time window for each satellite is extracted; Determine whether the effective mission execution time windows of any two satellites overlap. If they do, construct a weighted evaluation model based on satellite mission priority, data transmission value, and scarcity of transit opportunities to prioritize the missions within the overlapping window. Based on the priority ranking results, the minimum interval time required for task switching is calculated in conjunction with the maximum rotational angular velocity of the antenna. The start and end times of low-priority tasks are adjusted to resolve time conflicts and generate a final executable task sequence that is non-overlapping and satisfies the antenna rotation constraints.

[0017] As a further improvement of the present invention, the specific process of task execution and fast switching control in step S5 is as follows: Within a preset timeframe before the current satellite mission ends, the target pointing position and rotation path of the antenna are calculated based on the optimized orbit prediction matrix of the next satellite to be executed. After the current satellite mission is completed, the antenna will quickly rotate to the pre-pointing position of the next satellite at the maximum allowable angular velocity according to the planned rotation path, thus completing the mission switch. Based on the optimized orbit prediction data, the target satellite is tracked in a closed loop and the mission is executed. After the mission is completed, the satellite smoothly leaves the station according to the optimized exit segment orbit data until all mission sequences are completed.

[0018] As a further improvement of the present invention, the method is applicable to ground station systems with single-aperture parabolic antennas and phased array antennas, and supports the same ground station to complete the continuous relay mission of no less than 2 low-orbit satellites within a single multi-satellite concentrated transit cycle, with a mission switching interval of no more than 2 seconds.

[0019] As a further improvement of the present invention, in step S1, when generating the initial multi-satellite mission plan, the satellite data transmission receiving task and the remote control programming task are simultaneously coupled in a time sequence, and the remote control programming task is embedded into the transit time window of the corresponding satellite data transmission receiving task, so as to realize the integrated execution of the two tasks within the same satellite transit cycle.

[0020] Compared with the prior art, the advantages of this invention are: (1) This invention performs filtering and truncation processing on the entry and exit segments of the orbit prediction data respectively, and optimizes the orbit data based on the start and end times of the mission execution by reverse / forward fitting, so that the antenna can complete accurate pre-pointing before the mission starts, realize millisecond-level fast satellite tracking and stable acquisition, and completely eliminate the acquisition waiting time before the start of data transmission; at the same time, it achieves smooth exit and fast reset after the mission ends, greatly shortens the exit waiting time, and effectively improves the effective time utilization rate of single satellite mission.

[0021] (2) This invention uses a multi-task automatic orchestration and conflict resolution mechanism, combined with optimized orbit prediction data, and uses antenna rotation constraints and minimum task switching interval as boundaries to adaptively adjust the timing of multi-satellite tasks. This can effectively resolve the time conflict of multiple satellites passing through the station at the same time, and enable a single ground station and a single antenna to perform continuous relay tasks for no less than two low-orbit satellites in a single multi-satellite concentrated transit cycle. The task switching interval can be controlled within 2 seconds, which can significantly increase the number of satellites served by the ground station per day.

[0022] (3) This invention does not require additional antenna hardware equipment. It can be adapted to various ground station systems such as existing single-aperture parabolic antennas and phased array antennas by only optimizing orbit data and improving task scheduling algorithms. It has low modification cost and strong adaptability. It can effectively solve the problem of ground station resource shortage caused by the development of large-scale low-orbit satellite constellations, while improving the utilization efficiency of on-board payload resources and the timeliness of commercial services.

[0023] (4) The present invention realizes the timing coupling planning of data transmission and reception tasks and remote control programming tasks simultaneously in the mission planning stage, and can complete the integrated execution of dual tasks within the same satellite transit cycle, further improving the mission execution efficiency of a single transit and enriching the service capabilities of the ground station. Attached Figure Description

[0024] Figure 1 This is a schematic diagram illustrating the simultaneous transit of multiple target satellites according to the present invention. Figure 2 This is a schematic diagram of the process of the present invention. Detailed Implementation

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

[0026] This embodiment applies to a fixed ground station with the following basic parameters: geodetic coordinates 116.39°E, 39.9°N, altitude 50m, minimum operating obstruction angle 5°, maximum antenna rotational angular velocity 120° / s, maximum antenna rotational angular acceleration 120° / s², and orbit prediction time step Δt = 1s. The targets to be observed are three LEO satellites (Satellite A, Satellite B, and Satellite C) that passed the station simultaneously and consecutively, all of which have acquired the latest two-line orbital elements (TLE) ephemeris data. Specific implementation steps

[0027] S1 Task Planning and Initial Plan Generation First, based on the geodetic coordinates of the ground station and the minimum working obstruction angle of 5°, combined with the TLE ephemeris data of the three satellites, the transit time window of each satellite is calculated using the SGP4 orbit prediction model: Satellite A: The transit time window is 12:00:00-12:08:30, the maximum elevation angle is 12:04:15, the mission type is X-band data transmission reception, the mission execution duration is 300s, and the mission execution window is 12:01:30-12:06:30. Satellite B: The transit time window is 12:05:00-12:13:20, the maximum elevation angle is 12:09:10, the mission type is X-band data transmission reception, the mission execution duration is 280s, and the mission execution window is 12:06:40-12:11:20. Satellite C: The transit time window is 12:10:00-12:18:45, the maximum elevation angle is at 12:14:20, the mission type is a data transmission reception + remote control programming integrated mission, the data transmission execution time is 260s, the mission execution window is 12:11:40-12:16:00, and the remote control programming mission is embedded in the data transmission window for execution.

[0028] Based on the above data, an initial multi-satellite mission plan is generated, which includes the time interval of multiple targets, mission type, and mission execution duration, and the timing coupling planning of data transmission mission and remote programming mission is completed simultaneously.

[0029] S2 transit trajectory prediction data calculation For the three target satellites in the initial multi-satellite mission plan, based on their TLE ephemeris data and ground station basic parameters, the azimuth and elevation angles of the satellites throughout their transit are calculated using a time step of 1 second through the coordinate transformation from the J2000 geocentric inertial coordinate system to the station-centric horizontal coordinate system, generating the original orbit prediction matrix for each satellite.

[0030] Taking satellite A as an example, its original orbit prediction matrix expression is:

[0031] Among them, T k The maximum elevation angle of satellite A was reached at 12:04:15. The original number of sampling points during the approach segment was M0=255, and the original number of sampling points during the exit segment was N0=255, covering the entire 8-minute and 30-second transit window; A i E i T respectively i The azimuth and elevation angles of satellite A relative to the ground station at any given time.

[0032] S3 orbital forecast data filtering cutoff optimization For each target satellite's original orbit prediction matrix, and in conjunction with its mission execution time window, filtering and truncation processing are performed on both the approach and exit segments. In this embodiment, the pre-pointing advance time T is... pre =10s, exit transition time T post =5s.

[0033] Taking satellite A as an example, the specific processing procedure is as follows: (1) Filtering and truncation processing of satellite A's mission execution start time T on=12:01:30, taking this as the cutoff point, the interval from 12:01:20 to 12:01:30 is selected as the optimized entry section, with a total of 10 sampling points. Based on the original track prediction matrix, T is calculated. on Azimuth angle A of satellite A at time on =135.2°, pitch angle E on =12.6°, T on−1 Azimuth A at time (12:01:29) on−1 =134.8°, pitch angle E on−1 =12.4°, calculate the instantaneous angular velocity:

[0034] With T on Based on the position and instantaneous angular velocity at a given moment, a uniform acceleration motion model is used to backfit the azimuth and elevation angle sequence from 12:01:20 to 12:01:29, generating optimized orbit data for the approach segment. This allows the antenna to start rotating according to the optimized orbit data at 12:01:20 and accurately point to the satellite when the mission begins at 12:01:30, achieving rapid acquisition without waiting.

[0035] (2) The end time T of the mission execution of satellite A in the outgoing segment filtering and cutoff processing off =12:06:30, taking this as the starting point, the interval from 12:06:30 to 12:06:35 is selected as the optimized departure section, with a total of 5 sampling points. Based on the original track prediction matrix, T is calculated. off Azimuth angle A of satellite A at time off =215.7°, pitch angle E off =18.3°, T off−1 Azimuth A at time (12:06:29) off-1 =215.2°, pitch angle E off-1 =18.5°, calculate the instantaneous angular velocity:

[0036] Calculate T again off-1 instantaneous angular velocity V′ at time t A-1 =0.48° / s, V′ E-1 =-0.19° / s, and then calculate the angular acceleration:

[0037] Based on the position, angular velocity, and angular acceleration at time Toff, the azimuth and pitch angle sequences within the optimized section of the departure segment are positively fitted. The optimized formula for calculating the track data of the departure segment is as follows:

[0038] Where m=1,2,3,4,5, corresponding to the sampling points from 12:06:31 to 12:06:35.

[0039] The optimized orbit prediction matrix for satellite A is ultimately generated, enabling a smooth departure from the station after the mission ends. This avoids the waiting time caused by long-term tracking based on the original orbit data and allows for rapid reset to execute the mission for satellite B.

[0040] Using the same method, the orbit prediction data filtering and truncation optimization of satellite B and satellite C were completed respectively, and the corresponding optimized orbit prediction matrices were obtained.

[0041] S4 Multitasking Auto-Organization and Conflict Resolution Based on the optimized orbit prediction matrix of the three satellites, the effective mission execution time window is extracted: Satellite A: 12:01:30-12:06:30 Satellite B: 12:06:40-12:11:20 Satellite C: 12:11:40-12:16:00 First, it is determined whether the task windows overlap. In this embodiment, the initial windows do not overlap. The minimum interval required for task switching is then calculated: Satellite A's task ends at 12:06:30, and Satellite B's task begins at 12:06:40, with a 10-second interval. Based on the antenna's maximum rotational angular velocity of 120° / s, the time required for the antenna to rotate from its pointing position at the end of Satellite A's task to its pre-pointing position on Satellite B is calculated to be 1.2 seconds, far less than the 10-second interval, thus satisfying the switching constraint. The task interval between Satellite B and Satellite C is 20 seconds, and the switching time required is 0.8 seconds, also satisfying the constraint.

[0042] In this embodiment, there are no task conflicts, so the final executable task sequence is generated directly. If there is overlapping task windows, a weighted evaluation model will be constructed based on satellite task priority, data transmission value, and scarcity of transit opportunities to prioritize tasks, adjust the execution windows of low-priority tasks, and resolve conflicts.

[0043] S5 Task Execution and Fast Switching Control The ground station antenna system will sequentially execute the tracking tasks for the three satellites according to the final executable task sequence: At 12:01:20, the antenna began pre-pointing and rotating according to the optimized orbit data of satellite A for the approach section. By 12:01:30, when the mission started, it had completed precise pointing and stable acquisition and directly entered the data transmission and reception state without any acquisition waiting time. At 12:06:30, Satellite A's mission ended, and the antenna smoothly exited the station according to the optimized exit segment orbit data. At the same time, 3 seconds before the mission ended, the pre-pointing position and rotation path planning for Satellite B were completed. After the mission ended, it quickly rotated to the pre-pointing position of Satellite B at an angular velocity of 100° / s. The entire switching process took 1.5 seconds, and the preparation work was completed before the start of Satellite B's mission at 12:06:40. Following the same logic, the mission execution of satellite B and the switch to satellite C were completed, and the mission execution of all three satellites was finally completed at 12:16:00.

[0044] This embodiment achieves relay tracking and mission execution of three consecutive LEO satellites passing over the station simultaneously using the above method. The mission switching interval is controlled within 2 seconds. The effective time utilization rate of a single satellite mission reaches over 98%. The ground station's transit time utilization rate is improved by 35% compared to the prior art, and the number of satellites that can be served per day is increased by 2.2 times.

[0045] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0046] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style of the specification is merely for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

Claims

1. A ground station mission adjustment method for simultaneous transit of multiple target satellites, characterized in that: Includes the following steps: S1 Mission Planning and Initial Plan Generation: Obtain basic parameters of the ground station and two-line orbit elements (TLE) ephemeris data of all low-Earth orbit satellites to be observed. Combine the ground station obstruction angle constraint and calculate the transit time window of each satellite to be observed through the SGP4 / SDP4 orbit prediction model to generate an initial multi-satellite mission plan that includes the transit time interval of multiple targets, mission type, and mission execution duration. S2 transit orbit prediction data calculation: For each target satellite in the initial multi-satellite mission plan, based on its ephemeris data and ground station basic parameters, through coordinate transformation from the geocentric inertial coordinate system to the station-centric horizontal coordinate system, the azimuth and elevation angles of the satellite's entire transit are calculated with a preset time step, generating an original orbit prediction matrix containing time series, azimuth series, and elevation angle series. S3 Orbit Prediction Data Filtering and Cut-off Optimization: For the original orbit prediction matrix of each target satellite, combined with the mission execution time window of the satellite in the initial multi-satellite mission plan, filtering and cutting-off processing is performed on the orbit prediction data of the approach and exit segments respectively to eliminate redundant data in the original orbit data that is not related to mission execution, and to fit and generate optimized orbit data that is adapted to the start and end times of the mission, and finally obtain the optimized orbit prediction matrix. S4 Multi-Task Automatic Orchestration and Conflict Resolution: Based on the optimized orbit prediction matrix of all target satellites, and with the rotation constraints of ground station antennas and the minimum interval of task switching as boundary conditions, the execution sequence of multi-satellite tasks is automatically orchestrated. The task conflict is adaptively resolved through a weighted evaluation model, generating a non-overlapping and executable final task sequence. S5 Mission Execution and Rapid Switching Control: The ground station antenna system, according to the final executable mission sequence and based on the optimized orbit prediction matrix of the corresponding satellite, sequentially completes pre-pointing, rapid acquisition, stable tracking, mission execution, and smooth departure for each target satellite, realizing rapid switching of single-antenna missions in scenarios where multiple target satellites pass through the station simultaneously.

2. The ground station mission adjustment method for simultaneous transit of multiple target satellites according to claim 1, characterized in that: In step S1, the basic parameters of the ground station include at least the geodetic coordinates of the ground station (longitude, latitude, altitude), as well as the minimum operating obstruction angle, the maximum angular velocity of the antenna rotation, and the maximum angular acceleration of the antenna rotation; the transit time window is the time interval during which the satellite elevation angle is greater than or equal to the minimum operating obstruction angle; and the task type includes satellite data transmission reception task and satellite remote control programming task.

3. The ground station mission adjustment method for simultaneous transit of multiple target satellites according to claim 1, characterized in that: In step S2, the preset time step is 1 second, and the generated original orbit prediction matrix expression is: ; Where TA is the time series, PA is the satellite azimuth sequence, PE is the satellite elevation sequence; Tk is the time node corresponding to the maximum elevation angle during satellite transit, M0 is the number of sampling points for the raw data of the inbound segment, N0 is the number of sampling points for the raw data of the outbound segment, and A i For T i The satellite azimuth angle corresponding to the time, E i For T i The satellite elevation angle corresponding to the time, where i is the sampling point number.

4. The ground station mission adjustment method for simultaneous transit of multiple target satellites according to claim 3, characterized in that: In step S3, the specific process of performing filtering and truncation processing on the track forecast data of the station entry section is as follows: taking the task execution start time T... on To determine the endpoint of the entry section, cut off T. on The previous duration was T pre The time interval is used as the optimization interval for the entry segment, where T pre The preset pre-pointing advance time is set, ranging from 5s to 30s; based on the original orbit prediction matrix, the azimuth angle A of the satellite at the Ton time is calculated. on Pitch angle E on , and T on The sampling time T before time step on−1 Azimuth A on−1 Pitch angle E on−1 Calculate the instantaneous angular velocities in the azimuth and pitch directions respectively: ;in, Δt is the time step for orbit prediction; T is the time step for orbit prediction. on Based on the position and instantaneous angular velocity at a given moment, a uniform acceleration motion model is used to backfit the azimuth and elevation angle sequences within the optimized section of the approach segment, generating optimized track data for the approach segment, thus enabling the antenna to accurately pre-point and quickly acquire at the start of the mission.

5. The ground station mission adjustment method for simultaneous transit of multiple target satellites according to claim 4, characterized in that: In step S3, the specific process of performing filtering and truncation processing on the track forecast data of the departure section is as follows: taking the task execution end time T... off As the starting point for the exit section, intercept T. off The duration is T. post The time interval is used as the optimization interval for the outbound segment, where T post The preset exit transition time ranges from 3s to 10s; based on the original track prediction matrix, T is calculated. off The azimuth angle A of the satellite at any given time off Pitch angle E off , and T off The sampling time T before time step off−1 Azimuth A off−1 Pitch angle E off−1 Calculate the instantaneous angular velocity and angular acceleration in the azimuth and pitch directions respectively: , ; where V′ A−1 V′ E−1 For T off−1 The instantaneous angular velocities in azimuth and pitch at each moment; denoted by T off Based on the position, instantaneous angular velocity, and angular acceleration at any given moment, a uniform acceleration motion model is used to positively fit the azimuth and elevation angle sequences within the optimized section of the departure segment, generating optimized track data for the departure segment, thus enabling the antenna to smoothly leave the station and quickly reset after the mission is completed.

6. The ground station mission adjustment method for simultaneous transit of multiple target satellites according to claim 5, characterized in that: In step S3, the optimized orbit prediction matrix expression is: Where TA′ is the optimized time series, PA′ is the optimized azimuth sequence, and PE′ is the optimized pitch sequence; M is the number of sampling points in the optimized section of the approach segment, and N is the number of sampling points in the optimized section of the exit segment; A′ off+m E′ off+m The optimized azimuth and elevation angles for the outgoing section, m=1,2,…,N, are calculated using the following formula: .

7. The ground station mission adjustment method for simultaneous transit of multiple target satellites according to claim 1, characterized in that: In step S4, the specific process of automatic multi-task orchestration and conflict resolution is as follows: Based on the optimized orbit prediction matrix of all target satellites, the effective mission execution time window for each satellite is extracted; Determine whether the effective mission execution time windows of any two satellites overlap. If they do, construct a weighted evaluation model based on satellite mission priority, data transmission value, and scarcity of transit opportunities to prioritize the missions within the overlapping window. Based on the priority ranking results, the minimum interval time required for task switching is calculated in conjunction with the maximum rotational angular velocity of the antenna. The start and end times of low-priority tasks are adjusted to resolve time conflicts and generate a final executable task sequence that is non-overlapping and satisfies the antenna rotation constraints.

8. The ground station mission adjustment method for simultaneous transit of multiple target satellites according to claim 1, characterized in that: In step S5, the specific process of task execution and fast switching control is as follows: Within a preset timeframe before the current satellite mission ends, the target pointing position and rotation path of the antenna are calculated based on the optimized orbit prediction matrix of the next satellite to be executed. After the current satellite mission is completed, the antenna will quickly rotate to the pre-pointing position of the next satellite according to the planned rotation path at the maximum allowable angular velocity, thus completing the mission switch. Based on the optimized orbit prediction data, the target satellite is tracked in a closed loop and the mission is executed. After the mission is completed, the satellite smoothly leaves the station according to the optimized exit segment orbit data until all mission sequences are completed.

9. A ground station mission adjustment method for simultaneous transit of multiple target satellites according to claim 1, characterized in that: The method is applicable to ground station systems with single-aperture parabolic antennas and phased array antennas. It supports the same ground station to complete the continuous relay mission of no less than two low-orbit satellites within a single multi-satellite transit cycle, with a mission switching interval of no more than 2 seconds.

10. A ground station mission adjustment method for simultaneous transit of multiple target satellites according to claim 2, characterized in that: In step S1, when generating the initial multi-satellite mission plan, the satellite data transmission receiving task and the remote control programming task are simultaneously coupled in a time sequence. The remote control programming task is embedded into the transit time window of the corresponding satellite data transmission receiving task, so as to realize the integrated execution of the two tasks within the same satellite transit cycle.

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