Low earth orbit constellation distributed coverage analysis method, device, equipment and storage medium

Abstract

The application relates to a low-orbit constellation distributed coverage analysis method, device, equipment and storage medium. The method determines a satellite group of a minimum spherical triangular unit under a "front, rear, left and right" chain establishment criterion based on a minimum distance; then, characteristic quantities of the minimum spherical triangular unit are solved; finally, a satellite coverage area ratio of the spherical triangle is taken as an estimated value of a minimum coverage multiplicity of the constellation. The method only needs to utilize local satellite orbit information to obtain the minimum coverage multiplicity estimated value, reduces spatial complexity in a constellation coverage analysis process, avoids global discretization processing and multi-satellite traversal operation required by a traditional analysis method, realizes analytical solution of the minimum coverage multiplicity through minimum spherical triangular characteristic quantities, reduces time complexity in the constellation coverage analysis process, can utilize local incomplete orbit information to estimate overall performance of the constellation, and can support development of distributed autonomous decision-making technology of a giant constellation.

Description

Technical Field

[0001] This invention belongs to the field of aerospace mission design technology, and relates to a method, device, equipment and storage medium for distributed coverage analysis of low-Earth orbit constellations. Background Technology

[0002] Satellite constellations are widely used in communications, navigation, remote sensing, and disaster monitoring. Low Earth Orbit (LEO) mega-constellations play a crucial role in satellite systems. However, due to complex perturbations in LEO, satellite orbits can drift significantly, potentially disrupting the constellation configuration and reducing overall performance. Earth coverage performance is the most fundamental indicator for evaluating constellation effectiveness; therefore, it remains a fundamental and critical issue in constellation design and operation.

[0003] Existing technologies mainly revolve around two types of coverage problems: forward coverage, which assesses the coverage performance of a constellation based on its spatial distribution; and reverse coverage, which determines the spatial distribution of a constellation based on the required coverage performance. Clearly, solving the forward problem is fundamental to solving the reverse problem. Depending on the mission phase, forward coverage analysis can be further divided into preprocessing analysis and real-time analysis. In the preprocessing phase, the most commonly used method is the grid point method (GPA), which can obtain statistical information about constellation coverage. However, with the emergence of mega-constellations, the computational complexity of coverage analysis has increased significantly. Traditional numerical GPA methods are insufficient to support the preprocessing analysis needs of mega-constellations in constellation design and satellite mission planning; therefore, analytical methods have received widespread attention due to their efficiency. Among these, the two-dimensional graph method is a typical approach, primarily used to solve discontinuous coverage problems. This method can quickly calculate the coverage window for each ground point and statistically analyze various performance indicators based on these windows. For continuous coverage problems, the continuous coverage zone (SoC) model is a representative method. Based on SoC theory, researchers have proposed coverage indexes to quantitatively analyze the coverage multiplicity of a specific latitude line. All of the above research methods fall under the category of preprocessing analysis. Real-time coverage analysis is crucial for satellite scheduling and configuration maintenance, yet related research remains relatively limited. While preprocessing analysis methods show promise for real-time problems, all of these methods rely on global information. When applied to mega-constellations, these methods require processing vast amounts of orbital data and regular configurations. Limited by satellite computing power, unstable motion, and constellation size, traditional centralized analysis methods in the preprocessing stage struggle to achieve real-time onboard analysis. Therefore, developing efficient, real-time coverage analysis methods to meet the autonomous onboard operation requirements of mega-constellations has become a vital research direction.

[0004] Compared to centralized approaches, distributed architectures have become the primary solution for the efficient management and control of mega-constellations in low Earth orbit. Under this distributed architecture, satellites must rely on localized and incomplete information for decision-making. Therefore, coverage analysis methods must also adapt to this new architecture to support satellite autonomous management. However, no quantitative coverage analysis method specifically designed for distributed architectures has yet been discovered. There is an urgent need to develop a distributed coverage analysis method capable of estimating the overall performance of a constellation using locally incomplete orbital information, thereby supporting distributed autonomous control technology for mega-constellations. Summary of the Invention

[0005] To address the problems existing in the above-mentioned traditional methods, this invention proposes a distributed coverage analysis method, apparatus, device, and storage medium for low-Earth orbit constellations, which can derive the overall coverage performance based on the orbital information of three local satellites, thereby serving the distributed constellation management architecture.

[0006] To achieve the above objectives, the embodiments of the present invention adopt the following technical solutions: On the one hand, a method for distributed coverage analysis of low-Earth orbit constellations is provided, which includes the following steps: Step S1: Based on the Walker constellation configuration parameters, use the minimum distance "front, back, left, right" link establishment criterion to determine the satellite composition of the smallest spherical triangular unit.

[0007] Step S2: Obtain satellite orbit parameters and solve for the characteristic quantities of the minimum spherical triangular unit based on the satellite composition of the minimum spherical triangular unit.

[0008] Step S3: Solve for the satellite coverage area ratio of the spherical triangle based on the characteristic quantities of the minimum spherical triangular unit, and use the satellite coverage area ratio as the minimum coverage multiplicity estimation result of the Walker constellation configuration.

[0009] On the other hand, a low-Earth orbit constellation distributed coverage analysis device is also provided, the device comprising: The satellite composition determination module for the smallest spherical triangulation unit is used to determine the satellite composition of the smallest spherical triangulation unit based on the Walker constellation configuration parameters and the minimum distance "front, back, left, right" link establishment criterion.

[0010] The module for solving the characteristic quantities of the minimum spherical triangular element is used to obtain satellite orbital parameters and solve the characteristic quantities of the minimum spherical triangular element based on the satellite composition of the minimum spherical triangular element.

[0011] The coverage multiplicity estimation module is used to solve the satellite coverage area ratio of the spherical triangle based on the feature quantity of the minimum spherical triangular unit, and use the satellite coverage area ratio as the minimum coverage multiplicity estimation result of the Walker constellation configuration.

[0012] In another aspect, a computer device is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of any of the above-mentioned low-orbit constellation distributed coverage analysis methods.

[0013] Furthermore, a computer-readable storage medium is also provided, on which a computer program is stored, which, when executed by a processor, implements the steps of any of the aforementioned low-orbit constellation distributed coverage analysis methods.

[0014] One of the above technical solutions has the following advantages and beneficial effects: The aforementioned method, apparatus, equipment, and storage medium for distributed coverage analysis of low-Earth orbit constellations determine the satellite composition of the smallest spherical triangular unit based on the "front, back, left, right" linking criterion using minimum distance. Then, the characteristic quantities of the smallest spherical triangular unit are solved. Finally, the ratio of the satellite coverage area of ​​the spherical triangle is used as an estimate of the minimum coverage multiplicity of the constellation. This method only requires local satellite orbital information to obtain the estimate of the minimum coverage multiplicity, reducing the spatial complexity of the constellation coverage analysis process. It avoids the global discretization processing and multi-satellite traversal operations required by traditional analysis methods, and achieves the analytical solution of the minimum coverage multiplicity through the characteristic quantities of the smallest spherical triangular unit, reducing the time complexity of the constellation coverage analysis process. It can estimate the overall performance of the constellation using locally incomplete orbital information, supporting the development of distributed autonomous decision-making technology for mega-constellations. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this application or the conventional technology, the drawings used in the description of the embodiments or the conventional technology will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a flowchart illustrating a low-Earth orbit constellation distributed coverage analysis method in one embodiment; Figure 2 This is a schematic diagram of the smallest spherical triangular unit within the Walker constellation configuration in one embodiment. Figure 3 This is a schematic diagram of the feature quantity of the smallest spherical triangular unit in one embodiment; Figure 4 In one embodiment J Schematic diagram of constellation coverage evolution results under perturbation; Figure 5 In one embodiment J Schematic diagram of the calculation of coverage performance consumption at each instant under perturbation. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0018] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0019] It should be noted that, in this document, the reference to "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The presentation of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art will understand that the embodiments described herein can be combined with other embodiments. The term "and / or" as used herein refers to any combination of one or more of the associated listed items, and all possible combinations, including such combinations.

[0020] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0021] In one embodiment, such as Figure 1 As shown, a distributed coverage analysis method for low-Earth orbit constellations is provided, which may include the following processing steps S1 to S3: Step S1: Based on the Walker constellation configuration parameters, use the minimum distance "front, back, left, right" link establishment criterion to determine the satellite composition of the smallest spherical triangular unit.

[0022] Specifically, the satellites of the smallest spherical triangular unit consist of two coplanar adjacent satellites and one non-coplanar satellite.

[0023] Step S2: Obtain satellite orbit parameters and solve for the characteristic quantities of the minimum spherical triangular unit based on the satellite composition of the minimum spherical triangular unit.

[0024] Step S3: Solve for the satellite coverage area ratio of the spherical triangle based on the characteristic quantities of the minimum spherical triangular unit, and use the satellite coverage area ratio as the minimum coverage multiplicity estimation result of the Walker constellation configuration.

[0025] The aforementioned distributed coverage analysis method for low-Earth orbit constellations determines the satellite composition of the smallest spherical triangular unit based on the "front, back, left, right" linking criterion using minimum distance. Then, it solves for the characteristic quantities of the smallest spherical triangular unit. Finally, it uses the satellite coverage area ratio of the spherical triangular unit as an estimate of the constellation's minimum coverage multiplicity. This method only requires local satellite orbital information to obtain the minimum coverage multiplicity estimate, reducing the spatial complexity of the constellation coverage analysis process. It avoids the global discretization and multi-satellite traversal operations required by traditional analysis methods, achieving analytical solution for the minimum coverage multiplicity through the minimum spherical triangular characteristic quantities, reducing the time complexity of the constellation coverage analysis process. Furthermore, it can estimate the overall constellation performance using locally incomplete orbital information, supporting the development of distributed autonomous decision-making technology for mega-constellations.

[0026] In one embodiment, step S1 includes: obtaining Walker constellation configuration parameters; the Walker constellation configuration parameters include: total number of satellites. Number of orbital surfaces Number of satellites in the plane Phase factor And reference satellite orbital parameters; the reference satellite orbital parameters include: semi-major axis eccentricity Track inclination Right ascension of ascending node Latitude Aspect The smallest spherical triangular unit satellite consists of two coplanar adjacent satellites and one non-coplanar satellite; based on the reference satellite orbital parameters, the analysis satellite is set as the [missing information]. The first orbital plane A satellite, referred to as a satellite Solve the first... The orbital plane and the first The latitude argument of the intersection of the orbital planes; the first In each orbital plane with satellite The satellite with the smallest inter-satellite distance is used as the satellite with the smallest inter-satellite distance. Skew satellites constituting the smallest spherical triangular unit; the first Within each orbital plane and satellite The satellites that make up the smallest spherical triangular unit are numbered as follows: (1) in, For the first Within each orbital plane and satellite Satellite numbering that forms the smallest spherical triangular unit. and The first The orbital plane and the first The latitude argument of the intersection of the orbital planes.

[0027] Determine with satellite Coplanar satellites forming the smallest spherical triangular unit: First, calculate the satellite With satellite The angle of the intersection; then, if Then the satellite With satellite ,satellite To form the smallest spherical triangular unit; conversely, a satellite With satellite ,satellite Forming the smallest spherical triangular unit; where, Indicates satellite With satellite Argument of the intersection point, Indicates the first The first orbital plane One satellite, Indicates the first The first orbital plane One satellite.

[0028] In one embodiment, the first The orbital plane and the first The latitude argument of the intersection of the orbital planes is: (2) in, and The first The orbital plane and the first The latitude argument of the intersection of the orbital planes. This represents the arctangent function.

[0029] In one embodiment, satellite With satellite The angle of the intersection is: (3) (4) in, and Satellites With satellite The cross point of latitude argument, and Satellites With satellite latitudinal arc, and The first The orbital plane and the first The latitude argument of the intersection of the orbital planes.

[0030] Specifically, based on the Walker constellation configuration parameters, the satellite composition of the smallest spherical triangular unit is determined, which includes the following steps: S101, Determine the Walker constellation configuration parameters, including the total number of satellites. Number of orbital surfaces Number of satellites in the plane Phase factor and reference satellite orbital parameters, including the semi-major axis eccentricity Track inclination Right ascension of ascending node Latitude Aspect The total number of satellites satisfies the following condition: .

[0031] For the Walker constellation configuration, S102, the smallest spherical triangular unit consists of two coplanar adjacent satellites and one non-coplanar satellite, such as... Figure 2 As shown.

[0032] For each satellite, it participates in two minimal spherical triangular units, where satellites on opposite sides of these two minimal spherical triangular units are located on their respective east and west orbital planes.

[0033] By utilizing the uniform symmetry of the Walker constellation configuration, it is only necessary to determine the numbers of the satellites on one side of the orbit, that is, the satellites whose orbital plane numbers are 1 greater than the current satellites.

[0034] make Indicates that it is located at the th The orbital planes are numbered as follows: The satellite, and , At this point, it is necessary to obtain the first... Each orbital plane with satellite Satellite numbers located in the same smallest spherical triangular unit.

[0035] S103, using formula (2) to solve the first... The orbital plane and the first The latitude argument of the intersection of the orbital planes.

[0036] S104, with satellite The skew satellites that constitute the smallest spherical triangular unit are satellites The satellite with the smallest minimum inter-satellite distance is determined using formula (1). Within each orbital plane and satellite Satellite numbering that makes up the smallest spherical triangular unit Satellite With satellite Form the smallest spherical triangular unit.

[0037] S105, confirming connection with satellite Coplanar satellites forming the smallest spherical triangular unit. Satellites are calculated using formulas (3) and (4). With satellite The angle of the intersection point.

[0038] S106, if Then the satellite With satellite To form the smallest spherical triangular unit; conversely, a satellite With satellite Form the smallest spherical triangular unit.

[0039] In one embodiment, the minimum spherical triangular element characteristic includes: the included angle of the orbital plane. relative phase of coplanar satellites Argument of relative intersection points of skew satellites angular distance between satellites on different planes and Step S2 includes: obtaining satellite orbital parameters; determining the orbital plane angle based on the orbital inclination and right ascension of the ascending node of the skew satellite. (5) in, The angle between the track planes, For satellite The orbital inclination, For satellite The orbital inclination, For satellite The right ascension of the ascending node, For satellite The right ascension of the ascending node.

[0040] The difference in latitude argument of coplanar satellites is taken as the relative phase of coplanar satellites; the relative argument of the intersection point of the orbital planes of skew satellites and the latitude argument of the satellites are determined as follows: (6) in, The argument of the relative intersection point of the satellites on opposite sides. For satellite latitudinal arc, For satellite latitudinal arc, For satellite The orbital plane of the satellite The intersection of the orbital planes of the satellite The latitude argument corresponding to the orbital plane. For satellite The orbital plane of the satellite The intersection of the orbital planes of the satellite The latitude argument corresponding to the orbital plane, where, and The expression is: ; ; Based on the orbital plane angle, the relative phase of coplanar satellites, and the argument of the relative intersection point of dissimilar satellites, the inter-satellite angular distance between dissimilar satellites is determined as follows: (7) in, and This refers to the inter-satellite angular distance between satellites on opposite sides.

[0041] Specifically, for the coverage performance evaluation scenario at each moment during constellation operation, since the orbital parameters change during satellite operation, the actual orbital parameters of the three satellites are used as the basis for calculation. The orbital parameter characteristic quantities are consistent with the reference satellite parameters in step S101, and the subscript indicates the satellite number corresponding to the parameter.

[0042] Obtaining satellite orbital parameters and solving for the characteristic quantities of the smallest spherical triangular unit based on the satellite composition of the smallest spherical triangular unit involves the following steps: S201, such as Figure 3 As shown, the three satellites are respectively , , The minimum spherical triangular element characteristic includes the included angle of the orbital plane. relative phase of coplanar satellites Argument of relative intersection points of skew satellites angular distance between satellites on different planes and .

[0043] S202, the included angle of the track surface is calculated using formula (5).

[0044] S203, relative phase of coplanar satellites for: .

[0045] S204, calculate the relative cross-point argument of the skew satellites using formula (6). .

[0046] S205, the inter-satellite angular distance between skew satellites is calculated using formula (7). and .

[0047] In one embodiment, step S3 includes: determining the actual geocentric angle covered by the three satellites of the minimum spherical triangulation unit; and determining the included angle of the three vertices of the minimum spherical triangle based on the included angle of the orbital planes, the inter-satellite angular distance between satellites on opposite sides, the argument of the relative intersection point of satellites on opposite sides, and the relative phase of satellites on the same side. (8) in, Satellites in the smallest spherical trigonometric The angle between the vertices, Satellites in the smallest spherical trigonometric The angle between the vertices, Satellites in the smallest spherical trigonometric The angle between the vertices, and The inter-satellite angular distance between satellites on opposite sides. For coplanar satellites, relative phase The argument of the relative intersection point of the satellites on opposite sides. Indicates the angle between the orbital planes.

[0048] The final evaluation result is twice the ratio of the actual coverage area of ​​the spherical triangular region to the area of ​​the spherical triangular region by the three satellites. The minimum coverage weight value of the two smallest spherical triangular units where each satellite is located is calculated, and the average value is taken to obtain the coverage performance evaluation result for a specific satellite.

[0049] In one embodiment, the final evaluation result is: (9) in, For the final evaluation results, , and The actual geocentric angles covered by the three satellites representing the smallest spherical triangular unit are shown.

[0050] Specifically, the spherical triangular coverage rate is calculated based on the feature quantities of the minimum spherical triangular unit, and this is used as the estimate of the minimum coverage multiplicity. The specific steps include: S301, determine the actual geocentric angle covered by the three satellites, denoted as... , , .

[0051] S302, the included angle between the three vertices of the smallest spherical triangle is calculated using formula (8). , as well as .

[0052] S303, for the evaluation of a given constellation configuration parameter, the ratio of the actual coverage area of ​​the three satellites to the area of ​​the spherical triangle is used as the minimum coverage weight evaluation result. Considering the overlapping coverage of the ascending and descending orbits of the constellation satellites, the final evaluation result needs to be multiplied by 2. The final evaluation result is shown in formula (9).

[0053] S304, for coverage performance evaluation at various times during constellation operation, calculates for each satellite... Figure 2 The minimum coverage weight values ​​of the red and green triangles are used to calculate the average of the values, which yields the coverage performance evaluation result for a specific satellite. (10) For different spherical triangular units, although the composition of the spherical triangles they belong to may differ, the calculation method is the same as the steps described above. Only the corresponding satellite orbital parameters need to be replaced.

[0054] At this point, the distributed coverage analysis process for low-Earth orbit constellations based on incomplete local information is complete.

[0055] In some implementations, two specific examples are provided to validate the low-Earth orbit constellation distributed coverage analysis method. Specific Implementation Example 1: The low-orbit constellation distributed coverage analysis method in this embodiment includes: S0: Input parameters The constellation configuration parameters are shown in Table 1.

[0057] Table 1 Walker constellation configuration parameters:

[0058] S1: Determine the satellite composition of the smallest spherical triangular unit based on the Walker constellation configuration parameters.

[0059] Because the Walker constellation configuration itself exhibits uniform symmetry, the coverage performance of the entire constellation can be inverted by discussing the coverage of only the smallest spherical triangular unit containing one of the satellites. In this embodiment, the first satellite of the first orbital plane is selected for discussion.

[0060] The latitude argument of the intersection point between the first and second orbital planes are respectively... , .

[0061] Among them, the first satellite in the first orbital plane and the 21st satellite in the second orbital plane form the smallest spherical triangular unit.

[0062] The angle of the intersection point of the first satellite in the first orbital plane is... The angle of the intersection point of the 21st satellite in the second orbital plane is... Therefore, the first and 22nd satellites in the first orbital plane and the 21st satellite in the second orbital plane form a minimum spherical triangular unit.

[0063] S2: Obtain satellite orbital parameters and solve for the characteristic quantities of the minimum spherical triangular unit based on the satellite composition of the minimum spherical triangular unit.

[0064] Among them, the included angle of the track plane relative phase of coplanar satellites Argument of relative intersection points of skew satellites The inter-satellite angular distance between satellites on opposite sides is , .

[0065] S3: Solve the spherical triangular coverage rate based on the feature quantity of the minimum spherical triangular unit as the minimum coverage multiplicity estimation result.

[0066] Based on a 45° semi-cone angle, the geocentric angle of coverage for all three satellites is approximately 10.11°. The included angle between the vertices of the spherical triangle is then obtained as follows: (11) Finally, according to step S303, the minimum covering multiplicity of this constellation configuration is obtained as follows: .

[0067] To verify the correctness of this method, a comparison was made with the traditional grid point method. The grid point method samples at 1-degree intervals at the equator, traversing all satellites in the constellation in Table 1, obtaining an average coverage weight of 2.53, with an analysis time of approximately 1.3 seconds. In contrast, the analysis time using this method is only 0.8 μs, with the difference in analysis time not exceeding 2.2%. Specific Implementation Example 2: The steps in this embodiment are basically the same as those in Specific Embodiment 1. The main difference is that the constellation satellites follow... J 2. The perturbation is analyzed and run, and the minimum coverage weight of the constellation is analyzed every 600 seconds within 3 days according to steps S1-S3.

[0069] For step S3, the coverage performance evaluation at each time point in S304 is performed. The formula for updating the reference satellite orbital parameters is as follows: (12) At each instant, satellite orbital parameters are extracted and coverage analysis is performed using this method.

[0070] Steps S1 and S3 are consistent with those in Specific Embodiment 1, and the final analysis and evolution results are as follows: Figure 4 Showing J 2. Evolution Results under Analysis. Numerical calculations yielded minimum, average, and maximum coverage multiples over three days of 2.1667, 2.4708, and 2.6667, respectively. The coverage multiples exhibited periodic fluctuations as the satellite moved along its orbit. Due to the stable constellation configuration, the result obtained using the distributed method remained constant at 2.4464. It can be seen that the results obtained by this method can characterize the long-term coverage performance evolution of the constellation, avoiding calculation biases caused by periodic fluctuations.

[0071] Time consumption, such as Figure 5 As shown, the average time consumption of the numerical method is 1921.38 μs, while the average time consumption per satellite for the distributed method is 1.01 μs.

[0072] It should be understood that, although the above process Figure 1 The steps in the diagram are shown sequentially as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order in which these steps are executed; they can be performed in other orders. Furthermore, the above process... Figure 1 At least some of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least some of the sub-steps or stages of other steps.

[0073] In one embodiment, a low-Earth orbit constellation distributed coverage analysis device is also provided, the device comprising: The satellite composition determination module for the smallest spherical triangulation unit is used to determine the satellite composition of the smallest spherical triangulation unit based on the Walker constellation configuration parameters and the minimum distance "front, back, left, right" link establishment criterion.

[0074] The module for solving the characteristic quantities of the minimum spherical triangular element is used to obtain satellite orbital parameters and solve the characteristic quantities of the minimum spherical triangular element based on the satellite composition of the minimum spherical triangular element.

[0075] The coverage multiplicity estimation module is used to solve the satellite coverage area ratio of the spherical triangle based on the feature quantity of the minimum spherical triangular unit, and uses the satellite coverage area ratio as the minimum coverage multiplicity estimation result of the Walker constellation configuration.

[0076] In one embodiment, the satellite composition determination module for the smallest spherical triangular unit is further used to obtain Walker constellation configuration parameters; the Walker constellation configuration parameters include: the total number of satellites. Number of orbital surfaces Number of satellites in the plane Phase factor And reference satellite orbital parameters; the reference satellite orbital parameters include: semi-major axis eccentricity Track inclination Right ascension of ascending node Latitude Aspect The smallest spherical triangular unit satellite consists of two coplanar adjacent satellites and one non-coplanar satellite; based on the reference satellite orbital parameters, the analysis satellite is set as the [missing information]. The first orbital plane A satellite, referred to as a satellite Solve the first... The orbital plane and the first The latitude argument of the intersection of the orbital planes; the first In each orbital plane with satellite The satellite with the smallest inter-satellite distance is used as the satellite with the smallest inter-satellite distance. Skew satellites constituting the smallest spherical triangular unit; the first Within each orbital plane and satellite The satellites forming the smallest spherical triangular unit are numbered as shown in formula (1); the satellites are determined to be related to... Coplanar satellites forming the smallest spherical triangular unit: First, calculate the satellite With satellite The angle of the intersection; then, if Then the satellite With satellite ,satellite To form the smallest spherical triangular unit; conversely, a satellite With satellite ,satellite Forming the smallest spherical triangular unit; where, Indicates satellite With satellite Argument of the intersection point, Indicates the first The first orbital plane One satellite, Indicates the first The first orbital plane One satellite.

[0077] In one embodiment, the satellite composition determination module of the smallest spherical triangular unit is the first... The orbital plane and the first The latitude argument of the intersection of the orbital planes is shown in formula (2).

[0078] In one embodiment, the satellite composition determination module of the smallest spherical triangular unit contains satellites. With satellite The angle of the intersection point is shown in formulas (3) and (4).

[0079] In one embodiment, the minimum spherical triangular element characteristic includes: the included angle of the orbital plane. relative phase of coplanar satellites Argument of relative intersection points of skew satellites angular distance between satellites on different planes and The module for solving the characteristic quantities of the minimum spherical triangular unit is also used to obtain satellite orbital parameters. The orbital plane angle is determined based on the orbital inclination and right ascension of the ascending node of the skew satellite, as shown in formula (5).

[0080] The difference in latitude argument of coplanar satellites is taken as the relative phase of coplanar satellites; the relative argument of the intersection point of the orbital planes of skew satellites and the latitude argument of the satellites are determined, as shown in formula (6).

[0081] The inter-satellite angular distance between satellites is determined based on the orbital plane angle, the relative phase of coplanar satellites, and the relative intersection angle of dissimilar satellites, as shown in formula (7).

[0082] In one embodiment, the coverage weight estimation module is also used to determine the actual geocentric angle of the three satellites covering the smallest spherical triangular unit; based on the orbital plane angle, the inter-satellite angular distance between different satellites, the relative intersection angle of different satellites, and the relative phase of coplanar satellites, the included angle of the three vertices of the smallest spherical triangle is determined, as shown in formula (8); twice the ratio of the actual coverable area of ​​the three satellites to the area of ​​the spherical triangle is used as the final evaluation result; the minimum coverage weight value of the two smallest spherical triangular units where each satellite is located is calculated, and finally the average is taken to obtain the coverage performance evaluation result of the specific satellite.

[0083] In one embodiment, the final evaluation result in the coverage multiplicity estimation module is shown in Equation (9).

[0084] It is understood that for detailed explanations of the low-Earth orbit (LEO) constellation distributed coverage analysis device, please refer to the corresponding explanations of the various embodiments of the LEO constellation distributed coverage analysis method above, and will not be repeated here. Each module in the aforementioned LEO constellation distributed coverage analysis device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in hardware or independently of a device with data processing capabilities, or stored in software in the memory of the aforementioned device, so that the processor can call and execute the operations corresponding to each module. The aforementioned device can be, but is not limited to, various types of data processing computer devices already existing in the art.

[0085] In one embodiment, a computer device is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above method embodiments.

[0086] It is understood that, in addition to the memory and processor mentioned above, the computer equipment described above also includes other hardware and software components not listed in this specification. The specific components can be determined according to the model of the image processing computer in different application scenarios, and will not be listed and described in detail in this specification.

[0087] In one embodiment, when the processor executes the computer program, it can also implement the steps or sub-steps added in the various embodiments of the low-orbit constellation distributed coverage analysis method described above.

[0088] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), memory bus DRAM (RDRAM), and interface DRAM (DRDRAM), etc.

[0089] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0090] The above embodiments are merely illustrative of several implementation methods of this application, and their descriptions are relatively specific and detailed. However, they should not be construed as limiting the scope of protection of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and all such modifications and improvements fall within the scope of protection of this application.

Claims

1. A method for distributed coverage analysis of low-Earth orbit constellations, characterized in that, Including the following steps: Step S1: Based on the Walker constellation configuration parameters, use the minimum distance "front, back, left, right" link establishment criterion to determine the satellite composition of the smallest spherical triangular unit; Step S2: Obtain satellite orbit parameters and solve for the characteristic quantities of the minimum spherical triangular unit based on the satellite composition of the minimum spherical triangular unit; Step S3: Solve for the satellite coverage area ratio of the spherical triangle based on the characteristic quantity of the minimum spherical triangular unit, and use the satellite coverage area ratio as the minimum coverage multiplicity estimation result of the Walker constellation configuration.

2. The low-orbit constellation distributed coverage analysis method according to claim 1, characterized in that, Step S1 includes: Obtain Walker constellation configuration parameters; Walker constellation configuration parameters include: total number of satellites. Number of orbital surfaces Number of satellites in the plane Phase factor and reference satellite orbit parameters; the reference satellite orbit parameters include: semi-major axis eccentricity Track inclination Right ascension of ascending node Latitude Aspect ; The satellite of the smallest spherical triangular unit consists of two coplanar adjacent satellites and one skew satellite; Based on the reference satellite orbit parameters, the analysis satellite is designated as the [missing information - likely a satellite name or designation]. The first orbital plane A satellite, referred to as a satellite Solve the first... The orbital plane and the first Latitude argument of the intersection of the orbital planes; The first In each orbital plane with satellite The satellite with the smallest inter-satellite distance is used as the satellite with the smallest inter-satellite distance. Skew satellites constituting the smallest spherical triangular unit; the first Within each orbital plane and satellite The satellites that make up the smallest spherical triangular unit are numbered as follows: in, For the first Within each orbital plane and satellite Satellite numbering that forms the smallest spherical triangular unit and The first The orbital plane and the first Latitude argument of the intersection of the orbital planes; Determine with satellite Coplanar satellites forming the smallest spherical triangular unit: First, calculate the satellite With satellite The angle of the intersection; then, if Then the satellite With satellite ,satellite To form the smallest spherical triangular unit; conversely, a satellite With satellite ,satellite Forming the smallest spherical triangular unit; where, They represent satellites With satellite Argument of the intersection point, Indicates the first The first orbital plane The satellite's serial number, Indicates the first The first orbital plane The satellite's serial number.

3. The low-orbit constellation distributed coverage analysis method according to claim 2, characterized in that, No. The orbital plane and the first The latitude argument of the intersection of the orbital planes, i.e. in, This represents the arctangent function.

4. The low-orbit constellation distributed coverage analysis method according to claim 2, characterized in that, satellite With satellite The angle of the intersection is: in, and Satellites With satellite Argument of the intersection point, and Satellites With satellite Latitude angle.

5. The low-orbit constellation distributed coverage analysis method according to claim 1, characterized in that, The minimum spherical triangular element characteristic includes: the included angle of the orbital plane. relative phase of coplanar satellites Argument of relative intersection points of skew satellites angular distance between satellites on different planes and Step S2 includes: Obtain satellite orbital parameters; Determine the angle between the orbital planes based on the orbital inclination and right ascension of the ascending node of the satellite. in, The angle between the track planes, For satellite The orbital inclination, For satellite The orbital inclination, For satellite The right ascension of the ascending node, For satellite The right ascension of the ascending node; The difference in latitudinal argument angles of coplanar satellites is taken as the relative phase of coplanar satellites; Based on the latitude argument of the intersection point of the orbital planes of the skew satellites and the latitude argument of the satellites, the relative intersection argument of the skew satellites is determined as follows: in, The argument of the relative intersection point of the satellites on opposite sides. For satellite Latitude arc, For satellite Latitude arc, For satellite The orbital plane of the satellite The intersection of the orbital planes of the satellite The latitude argument corresponding to the orbital plane. For satellite The orbital plane of the satellite The intersection of the orbital planes of the satellite The latitude argument corresponding to the orbital plane; Based on the orbital plane angle, the relative phase of the coplanar satellites, and the argument of the relative intersection point of the non-coplanar satellites, the inter-satellite angular distance between the non-coplanar satellites is determined as follows: in, and This refers to the inter-satellite angular distance between satellites on opposite sides.

6. The low-orbit constellation distributed coverage analysis method according to claim 1, characterized in that, Step S3 includes: Determine the actual geocentric angle covered by the three satellites of the smallest spherical triangular unit; Based on the included angle of the orbital planes, the inter-satellite angular distance between satellites on opposite sides, the argument of the relative intersection point of satellites on opposite sides, and the relative phase of satellites on the same plane, the included angle of the three vertices of the minimum spherical triangle is determined as follows: in, Satellites in the smallest spherical trigonometric The angle between the vertices, Satellites in the smallest spherical trigonometric The angle between the vertices, Satellites in the smallest spherical trigonometric The angle between the vertices, and The inter-satellite angular distance between satellites on opposite sides. For coplanar satellites, relative phase The argument of the relative intersection point of the satellites on opposite sides. Indicates the angle between the orbital planes; The final evaluation result is twice the ratio of the actual coverage area of ​​the spherical triangular region by the three satellites to the area of ​​the spherical triangular region. The minimum coverage weight of the two smallest spherical triangular units containing each satellite is calculated, and the average value is taken to obtain the coverage performance evaluation result for a specific satellite.

7. The low-orbit constellation distributed coverage analysis method according to claim 6, characterized in that, The final evaluation result is as follows: in, For the final evaluation results, , and The actual geocentric angles covered by the three satellites representing the smallest spherical triangular unit are shown.

8. A low-orbit constellation distributed coverage analysis device, characterized in that, include: The satellite composition determination module for the smallest spherical triangulation unit is used to determine the satellite composition of the smallest spherical triangulation unit based on the Walker constellation configuration parameters and the minimum distance "front, back, left, right" link establishment criterion. The module for solving the characteristic quantities of the minimum spherical triangular element is used to obtain satellite orbital parameters and solve the characteristic quantities of the minimum spherical triangular element based on the satellite composition of the minimum spherical triangular element. The coverage multiplicity estimation module is used to solve the satellite coverage area ratio of the spherical triangle based on the feature quantity of the minimum spherical triangular unit, and use the satellite coverage area ratio as the minimum coverage multiplicity estimation result of the Walker constellation configuration.

9. A computer device, comprising a memory and a processor, characterized in that, The memory stores a computer program, and when the processor executes the computer program, it implements the steps of the low-orbit constellation distributed coverage analysis method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the low-orbit constellation distributed coverage analysis method according to any one of claims 1 to 7.

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