CN112910782B - Method for realizing minimum time delay of space teleoperation system based on relay communication - Google Patents

Method for realizing minimum time delay of space teleoperation system based on relay communication Download PDF

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CN112910782B
CN112910782B CN202110008674.6A CN202110008674A CN112910782B CN 112910782 B CN112910782 B CN 112910782B CN 202110008674 A CN202110008674 A CN 202110008674A CN 112910782 B CN112910782 B CN 112910782B
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relay
circular orbit
base station
orbit
star
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CN112910782A (en
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黄攀峰
陈海飞
刘正雄
马志强
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Northwestern Polytechnical University
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L45/00—Routing or path finding of packets in data switching networks
    • H04L45/12—Shortest path evaluation
    • H04L45/121—Shortest path evaluation by minimising delays
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/14—Relay systems
    • H04B7/15—Active relay systems
    • H04B7/185—Space-based or airborne stations; Stations for satellite systems
    • H04B7/1851—Systems using a satellite or space-based relay
    • H04B7/18513—Transmission in a satellite or space-based system
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/14—Relay systems
    • H04B7/15—Active relay systems
    • H04B7/185—Space-based or airborne stations; Stations for satellite systems
    • H04B7/1851—Systems using a satellite or space-based relay
    • H04B7/18515—Transmission equipment in satellites or space-based relays
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W40/00—Communication routing or communication path finding
    • H04W40/02—Communication route or path selection, e.g. power-based or shortest path routing
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W40/00—Communication routing or communication path finding
    • H04W40/02—Communication route or path selection, e.g. power-based or shortest path routing
    • H04W40/22—Communication route or path selection, e.g. power-based or shortest path routing using selective relaying for reaching a BTS [Base Transceiver Station] or an access point

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Abstract

The invention relates to a method for realizing minimum time delay of a space teleoperation system based on relay communication, which is characterized in that an orbit equation of a spherical surface of the earth, each base station and each relay star is defined based on a relay communication topological structure of 3 equator circular orbit relay stars and 3 polar region circular orbit relay stars; and configuring subscript values corresponding to the initial coordinates, and judging the shortest and connected links and solving corresponding time delay values. On the premise of ensuring the space teleoperation target of 'full earth coverage, full time and full orbit', the invention designs a 'shortest and connected communication link search algorithm', dynamically realizes the selection of the optimal (shortest and connected) communication link, further ensures the dynamic minimization of time delay at each moment, and provides basis and possibility for the control algorithm to ensure the control performance of the system.

Description

Method for realizing minimum time delay of space teleoperation system based on relay communication
Technical Field
The invention belongs to the technical field of robot control, relates to a method for realizing minimum time delay of a space teleoperation system based on relay communication, and particularly relates to a method for realizing optimal communication link selection and minimum time delay of a global full-coverage, full-time-period and full-orbit space teleoperation system based on relay communication.
Background
The space robot teleoperation system is used as a man-machine hybrid intelligent control system and has wide application prospect. Among them, having "global full coverage (global), full time (continuous), full orbit (high, middle, low orbit)" teleoperation capability is the ultimate goal of future space teleoperation system. The achievement of the target requires that the world communication must be continuous, stable and reliable. Therefore, the delicate relay communication topology design is very important. However, the introduction of complex relay communication causes larger and more complex communication delay of the space teleoperation system. It is well known that many control algorithms can overcome the effects of constant or small time varying delays to achieve a desired performance level. However, when there is a large and complex time-varying delay, the telepresence of the teleoperation system is rapidly reduced, and even the stability of the teleoperation system cannot be guaranteed.
Thus, on the premise that latency is allowed or admitted to exist: how to determine a dynamically optimal (shortest and connected) communication link on the basis of the existing relay communication topological structure to realize the optimal (minimum) time delay at each moment, so that the control algorithm can ensure the stability and the optimal performance of the system, and the method is a work with great theoretical and practical significance.
Disclosure of Invention
Technical problem to be solved
In order to avoid the defects of the prior art, the invention provides a method for realizing the minimum time delay of a space teleoperation system based on relay communication.
Technical scheme
A method for realizing minimum time delay of a space teleoperation system based on relay communication is characterized by comprising the following steps:
step 1: establishing a base coordinate system with an origin at the "earth" center of sphere O (0,0,0), given orbital parameters, including the "earth" radius R E Equator/polar earth circular orbit relay star orbit radius R RS Focus F of long semi-axis of inclined elliptic orbit of' space base station 1 Short semi-axis focus F 2 Orbit radius R of ground base station GB And vertical coordinate
Figure BDA0002884480060000021
Giving the number N of the relay stars and the storage space of the time delay value: d STS Positive integer n, positive integer nn, time variable t, sampling period t Sample And test ofEnd time T end ；
Step 2: collection point set
Set of points on the "earth" sphere: xi E ＝{(x E ,y E ,z E )}，
Set of points on the "ground base station" motion trajectory: xi GB ＝{(x GB ,y GB ,z GB ) Xi, and xi GB ∈Ξ E
Set of points on the "equatorial orbit relay star" orbit:
Figure BDA0002884480060000026
set of points on the "spatial base station" motion trajectory: xi SB ＝{(x SB ,y SB ,z SB )}
And 3, step 3: calculating a Point set xi GB 、
Figure BDA0002884480060000027
Ξ SB The number of midpoints, and assigning the number to a variable
Figure BDA0002884480060000022
Figure BDA0002884480060000023
Figure BDA0002884480060000024
Wherein size () is a function of the number of points in the set of solved points;
configuring subscript values corresponding to initial coordinates of the ground base station, the space base station, 3 equatorial circular orbit relay stars and 3 polar circular orbit relay stars:
Figure BDA0002884480060000025
wherein: i.e. i GB And i SB Respectively representing subscript values, i, corresponding to initial coordinates of ' ground base station ' and ' space base station RS1 、i RS2 And i RS3 Respectively represent subscript values, i, corresponding to the initial coordinates of 3 "relay stars" in the polar circular orbit RS4 、i RS5 And i RS6 Subscript values corresponding to initial coordinates of 3 relay stars in the equatorial orbit are respectively represented;
and 4, step 4:
1. making respective corresponding motion tracks according to the following equations
The "earth" spherical equation:
Figure BDA0002884480060000031
the motion orbit equation of the ground base station is as follows:
Figure BDA0002884480060000032
"equator orbit relay star" orbit equation:
Figure BDA0002884480060000033
the motion orbit equation of the polar region circular orbit relay star is as follows:
Figure BDA0002884480060000034
the motion orbit equation of the space base station:
Figure BDA0002884480060000035
wherein: a. b, c, d and f are parameters of an elliptic orbit equation;
2. the positions of the ground base station, the space base station and the relay stars at the current time t in the basic coordinate system are given and drawn at the corresponding positions:
<1>if it is not
Figure BDA0002884480060000036
Then at position xi SB (i SB ) Draw "spatial basestation" and xi SB (i SB )＝(x SB (i SB ),y SB (i SB ),z SB (i SB ) ); if it is
Figure BDA0002884480060000037
Then let i SB =1, and at position xi SB (i SB ) Drawing a space base station;
<2>if it is not
Figure BDA0002884480060000038
Then at position xi GB (i GB ) Here, a "ground BS" is drawn, and xi GB (i GB )＝(x GB (i GB ),y GB (i GB ),z GB (i GB ) ); if it is
Figure BDA0002884480060000039
Then let i GB =1, and at position xi GB (i GB ) Drawing a ground base station;
<3>if it is not
Figure BDA00028844800600000310
Then at the position
Figure BDA00028844800600000311
The place is drawn as a polar region circular orbit relay star 1, and
Figure BDA00028844800600000312
if it is
Figure BDA00028844800600000313
Then let i RS1 =1, and at a position
Figure BDA00028844800600000314
A polar region circular orbit relay star 1 is drawn;
<4>if it is used
Figure BDA00028844800600000315
Then at the position
Figure BDA00028844800600000316
The place is drawn as a polar region circular orbit relay star 2, and
Figure BDA00028844800600000317
if it is
Figure BDA00028844800600000318
Then let i RS2 =1, and at a position
Figure BDA0002884480060000041
A polar region circular orbit relay star 2 is drawn;
<5>if it is used
Figure BDA0002884480060000042
Then at the position
Figure BDA0002884480060000043
The place is drawn as a polar region circular orbit relay star 3', and
Figure BDA0002884480060000044
if it is
Figure BDA0002884480060000045
Then let i RS3 =1, and at a position
Figure BDA0002884480060000046
A polar region circular orbit relay star 3 is drawn;
<6>if it is not
Figure BDA0002884480060000047
Then at the position
Figure BDA0002884480060000048
The place is drawn as a polar region circular orbit relay star 4
Figure BDA0002884480060000049
If it is
Figure BDA00028844800600000410
Then let i RS4 =1, and at a position
Figure BDA00028844800600000411
A polar region circular orbit relay star 4 is drawn;
<7>if it is not
Figure BDA00028844800600000412
Is in position
Figure BDA00028844800600000413
The place is drawn as a polar region circular orbit relay star 5
Figure BDA00028844800600000414
If it is
Figure BDA00028844800600000415
Then let i RS5 =1, and at a position
Figure BDA00028844800600000416
A polar region circular orbit relay star 5 is drawn;
<8>if it is used
Figure BDA00028844800600000417
Then at the position
Figure BDA00028844800600000418
The place is drawn as a polar region circular orbit relay star 6
Figure BDA00028844800600000419
If it is
Figure BDA00028844800600000420
Then let i RS6 =1, and at a position
Figure BDA00028844800600000421
A polar region circular orbit relay star 6 is drawn;
and 5: the "connection points" involved in the communication link include: a ground base station, a space base station, a polar region circular orbit relay star 1, a polar region circular orbit relay star 2, a polar region circular orbit relay star 3, an equatorial circular orbit relay star 4, an equatorial circular orbit relay star 5 and an equatorial circular orbit relay star 6;
1) Each "connection point" is defined and assigned as follows:
the ground base station is a connection point A, and has A = xi GB (i GB ) (ii) a The polar region circular orbit relay star 1 is a connecting point B and is provided with
Figure BDA00028844800600000422
The polar region circular orbit relay star 2 is a connecting point C and is provided with
Figure BDA00028844800600000423
The polar region circular orbit relay star 3 is a connecting point D and is provided with
Figure BDA00028844800600000424
"relay star 4 on equatorial orbit" is a connection point E and has
Figure BDA00028844800600000425
The 'equator orbit relay star 5' is a connecting point F and is provided with
Figure BDA00028844800600000426
"equatorial orbit relay star 6" is the connection point G and has
Figure BDA00028844800600000427
"spatial base station" is a connection point H, and has H = xi SB (i SB )；
2) Calling a shortest and connected communication Link searching algorithm to search the shortest and connected communication Link corresponding to the current time t min And outputting the corresponding time delay value D STS (nn)；
3) And (3) calculating:
Figure BDA0002884480060000051
step 6, judging: if T > T end Ending and outputting the time delay value set D STS Otherwise, step 4 is executed.
And N is a positive integer.
Advantageous effects
The invention provides a method for realizing minimum time delay of a space teleoperation system based on relay communication, which is based on a relay communication topological structure of 3 equator circular orbit relay stars and 3 polar region circular orbit relay stars, and designs a shortest and connected communication link search algorithm on the premise of ensuring the space teleoperation target of earth full coverage, full time and full orbit, thereby dynamically realizing optimal (shortest and connected) communication link selection, further ensuring the dynamic minimization of time delay at each moment, and providing a basis and possibility for a control algorithm to ensure the control performance of the system.
The invention has the innovation points that: 1) The method is characterized by comprising the following steps of firstly researching the dynamic optimal (shortest, connected) problem of a communication link and the corresponding dynamic optimal (minimum) problem of time delay under the space teleoperation target of earth full coverage, full time and full orbit; 2) A ' shortest and connected communication link search algorithm ' is designed, the principle of ' stepwise traversal ' shortest path solving and ' stage judgment ' connectivity ' is ingeniously adopted, and the improvement of the algorithm operation efficiency is realized on the premise of ensuring the optimal (shortest and connected) communication link and the optimal (minimum) time delay at each moment. The idea of adopting this principle is: under the mode of gradually traversing and solving the shortest path, the link length of the next stage is definitely larger than the link 'shortest communication path' length of the previous stage; 3) In a shortest and connected communication link search algorithm, a point-vector-ball geometric structure method is innovatively provided for solving the connection rate and judging the connection. The algorithm is based on three geometric figures, namely points, vectors and balls, and judges the connectivity of a communication link through the mutual relation among the points, the vectors and the balls. Therefore, the algorithm is named as "point-vector-sphere" geometry method. The algorithm has strong practicability due to the fact that the algorithm is based on geometry.
Drawings
FIG. 1: relay communication topology structure diagram of' 3 equator circular orbit relay stars +3 polar earth circular orbit relay stars
FIG. 2: shortest and connected communication link searching algorithm
FIG. 3: point-vector-sphere geometric construction method
Detailed Description
The invention will now be further described with reference to the following examples and drawings:
the optimal communication link selection and the minimum time delay realization of the earth full-coverage, full-time and full-orbit space teleoperation system based on relay communication are realized by the following steps:
the method comprises the following steps: initializing;
step two: defining an orbit equation of a terrestrial sphere and each base station and relay satellite;
step three: configuring subscript values corresponding to the initial coordinates;
step four: judging whether the test is terminated;
step five: dynamic mapping;
step six: and judging the shortest and connected link and solving the corresponding time delay value.
The method comprises the following specific steps:
the method comprises the following steps:
1) Establishing a basic coordinate system with the 'earth' sphere center O (0,0,0) as an origin;
2) Given the orbit parameters: radius of the earth R E =6370000m, equatorial/polar circular orbit "relay star" orbit radius R RS =35786000m, "space base station" inclined ellipse orbit long (short) half axis focus F 1 ＝11370004m(F 2 =25370000 m), "ground base station" orbit radius R GB 6370000m and vertical coordinate
Figure BDA0002884480060000061
3) Given the number of "relay stars" N =6 (positive integer), the time delay value storage space: d STS =0, positive integer n =1, positiveInteger nn =1, time variable t =0, sampling period t Sample =0.01s and test termination time T end ＝50s；
Step two:
1) Given the "earth" spherical equation:
Figure BDA0002884480060000071
xi (xi) E ＝{(x E ,y E ,z E ) Represents a set of points on the "earth" sphere;
2) Given the "ground base station" orbit equation:
Figure BDA0002884480060000072
xi (xi) GB ＝{(x GB ,y GB ,z GB ) Means a set of points on the "ground basestation" motion trajectory, and xi GB ∈Ξ E ；
3) Given the equation of the orbit of the "relay star on the equator orbit":
Figure BDA0002884480060000073
to be provided with
Figure BDA0002884480060000074
Represents the set of points on the orbit of the "equatorial orbit relay star";
4) Given the equation of the orbit of the 'polar region circular orbit relay star':
Figure BDA0002884480060000075
to be provided with
Figure BDA0002884480060000076
Denotes the "equator circleA set of points on the orbit of an orbit relay star;
5) Given the "spatial base station" orbit equation:
Figure BDA0002884480060000077
wherein a, b, c, d and f are parameters of an elliptic orbit equation, and xi SB ＝{(x SB ,y SB ,z SB ) Denotes the set of points on the "spatial base station" motion trajectory;
step three:
1) Calculating xi in step two GB 、
Figure BDA0002884480060000081
Ξ SB The number of midpoints, and assigning the number to a variable
Figure BDA0002884480060000082
Figure BDA0002884480060000083
Figure BDA0002884480060000084
Wherein size (·) is a function of the number of points in the point set;
2) Allocating subscript values corresponding to initial coordinates of a ground base station, a space base station, 3 equator circular orbit relay stars and 3 polar circular orbit relay stars:
Figure BDA0002884480060000085
wherein i GB And i SB Respectively representing subscript values, i, corresponding to initial coordinates of ' ground base station ' and ' space base station RS1 、i RS2 And i RS3 Respectively represent the beginnings of 3 'relay stars' in the circular orbit of the polar regionSubscript value i corresponding to the start coordinate RS4 、i RS5 And i RS6 Subscript values corresponding to initial coordinates of 3 relay stars in the equatorial orbit are respectively represented;
step four:
1) Drawing an earth spherical surface according to a formula (1.1) and drawing motion orbits corresponding to a ground base station, an equator circular orbit relay star, a polar circular orbit relay star and a space base station respectively according to formulas (1.2) to (1.5);
2) The positions of the ground base station, the space base station and the relay stars at the current time t in the basic coordinate system are given and drawn at the corresponding positions as follows:
<1>if it is not
Figure BDA0002884480060000086
Then at position xi SB (i SB ) Draw "spatial basestation" and xi SB (i SB )＝(x SB (i SB ),y SB (i SB ),z SB (i SB )). If it is
Figure BDA0002884480060000087
Then let i SB =1, and at position xi SB (i SB ) Drawing a space base station;
<2>if it is not
Figure BDA0002884480060000088
Then at position xi GB (i GB ) Here, a "ground BS" is drawn, and xi GB (i GB )＝(x GB (i GB ),y GB (i GB ),z GB (i GB )). If it is
Figure BDA0002884480060000089
Then let i GB =1, and at position xi GB (i GB ) Drawing a ground base station;
<3>if it is not
Figure BDA0002884480060000091
Then at the position
Figure BDA0002884480060000092
The place shows a polar region circular orbit relay star 1, and
Figure BDA0002884480060000093
if it is
Figure BDA0002884480060000094
Then let i RS1 =1, and at a position
Figure BDA0002884480060000095
A polar region circular orbit relay star 1 is drawn;
<4>if it is not
Figure BDA0002884480060000096
Then at the position
Figure BDA0002884480060000097
Draw a polar region circular orbit relay star 2' and
Figure BDA0002884480060000098
if it is
Figure BDA0002884480060000099
Then let i RS2 =1, and at a position
Figure BDA00028844800600000910
A polar region circular orbit relay star 2 is drawn;
<5>if it is not
Figure BDA00028844800600000911
Then at the position
Figure BDA00028844800600000912
The place is drawn as a polar region circular orbit relay star 3', and
Figure BDA00028844800600000913
if it is
Figure BDA00028844800600000914
Then let i RS3 =1, and at a position
Figure BDA00028844800600000915
A polar region circular orbit relay star 3 is drawn;
<6>if it is not
Figure BDA00028844800600000916
Then at the position
Figure BDA00028844800600000917
The place is drawn as a polar region circular orbit relay star 4
Figure BDA00028844800600000918
If it is
Figure BDA00028844800600000919
Then let i RS4 =1, and at a position
Figure BDA00028844800600000920
A polar region circular orbit relay star 4 is drawn;
<7>if it is not
Figure BDA00028844800600000921
Then at the position
Figure BDA00028844800600000922
The place is drawn as a polar region circular orbit relay star 5
Figure BDA00028844800600000923
If it is
Figure BDA00028844800600000924
Then let i RS5 =1, and at a position
Figure BDA00028844800600000925
A polar region circular orbit relay star 5 is drawn;
<8>if it is not
Figure BDA00028844800600000926
Then at the position
Figure BDA00028844800600000927
The place is drawn as a polar region circular orbit relay star 6
Figure BDA00028844800600000928
If it is
Figure BDA00028844800600000929
Then let i RS6 =1, and at a position
Figure BDA00028844800600000930
A polar region circular orbit relay star 6 is drawn;
step six:
the "connection points" involved in the communication link mainly include: a ground base station, a space base station, a polar circular orbit relay star 1, a polar circular orbit relay star 2, a polar circular orbit relay star 3, an equatorial circular orbit relay star 4, an equatorial circular orbit relay star 5 and an equatorial circular orbit relay star 6.
4) Each "connection point" is defined and assigned as follows:
the ground base station is a connection point A, and has A = xi GB (i GB ) (ii) a The polar region circular orbit relay star 1 is a connecting point B and is provided with
Figure BDA0002884480060000101
The polar region circular orbit relay star 2 is a connecting point C and is provided with
Figure BDA0002884480060000102
The polar region circular orbit relay star 3 is a connecting point D and is provided with
Figure BDA0002884480060000103
"equator orbit relay star 4" is the connection pointE, and has
Figure BDA0002884480060000104
The equator orbit relay star 5 is a connecting point F and is provided with
Figure BDA0002884480060000105
"relay star 6 on equatorial orbit" is a connection point G and has
Figure BDA0002884480060000106
"spatial base station" is a connection point H, and has H = xi SB (i SB )；
5) Calling a 'shortest and connected communication Link searching algorithm (figures 2 and 3)', and searching the 'shortest and connected' communication Link corresponding to the current time t min And outputting the corresponding time delay value D STS (nn)。
6) Order to
Figure BDA0002884480060000107
Step five:
1) If T > T end And outputting a time delay value set D after the test is finished STS ；
2) Otherwise, step four is executed.

Claims (2)

1. A method for realizing minimum time delay of a space teleoperation system based on relay communication is characterized by comprising the following steps:
step 1: establishing a base coordinate system with an origin at the "earth" center of sphere O (0,0,0), given orbital parameters, including the "earth" radius R E Equator/polar earth circular orbit relay star orbit radius R RS Focus F of long semi-axis of inclined elliptic orbit of' space base station 1 Short semi-axis focus F 2 Orbit radius R of' ground base station GB And vertical coordinate
Figure FDA0003864411580000011
Giving the number N of the relay stars and the storage space of the time delay value: d STS Positive integer n, positive integer nn, time variable t, sampling period t Sample And test termination time T end ；
Step 2: collection point set
Set of points on the "earth" sphere: xi E ＝{(x E ,y E ,z E )}，
Set of points on the "ground base station" motion trajectory: xi GB ＝{(x GB ,y GB ,z GB ) Xi and xi GB ∈Ξ E
Set of points on the "equatorial orbit relay star" motion orbit:
Figure FDA0003864411580000012
set of points on the "spatial base station" motion trajectory: xi SB ＝{(x SB ,y SB ,z SB )}
And step 3: calculating xi Dian set GB 、
Figure FDA0003864411580000013
Ξ SB The number of midpoints, and assigning the number to a variable
Figure FDA0003864411580000014
Figure FDA0003864411580000015
Figure FDA0003864411580000016
Wherein size (·) is a function of the number of points in the point set;
configuring subscript values corresponding to initial coordinates of the ground base station, the space base station, 3 equatorial circular orbit relay stars and 3 polar circular orbit relay stars:
Figure FDA0003864411580000017
wherein: i all right angle GB And i SB Respectively represents subscript values i corresponding to initial coordinates of a ground base station and a space base station RS1 、i RS2 And i RS3 Index values i corresponding to the initial coordinates of 3 "relay stars" in the polar circular orbit RS4 、i RS5 And i RS6 Subscript values corresponding to initial coordinates of 3 relay stars in the equatorial orbit are respectively represented;
and 4, step 4:
1. making respective corresponding motion tracks according to the following equations
The "earth" spherical equation:
Figure FDA0003864411580000021
the motion orbit equation of the ground base station is as follows:
Figure FDA0003864411580000022
"equatorial circle orbit relay star" orbit equation of motion:
Figure FDA0003864411580000023
the motion orbit equation of the polar region circular orbit relay star is as follows:
Figure FDA0003864411580000024
the motion orbit equation of the space base station is as follows:
Figure FDA0003864411580000025
wherein: a. b, c, d and f are parameters of an elliptic orbit equation;
2. giving the positions of the current time t, namely the ground base station, the space base station and each relay satellite in a basic coordinate system, and drawing the positions at corresponding positions:
<1>if it is not
Figure FDA0003864411580000026
Then at position xi SB (i SB ) Draw "spatial basestation" and xi SB (i SB )＝(x SB (i SB ),y SB (i SB ),z SB (i SB ) ); if it is
Figure FDA0003864411580000027
Then let i SB =1, and at position xi SB (i SB ) Drawing a space base station;
<2>if it is not
Figure FDA0003864411580000028
Then at position xi GB (i GB ) Here, a "ground BS" is drawn, and xi GB (i GB )＝(x GB (i GB ),y GB (i GB ),z GB (i GB ) ); if it is
Figure FDA0003864411580000029
Then let i GB =1, and at position xi GB (i GB ) Drawing a ground base station;
<3>if it is not
Figure FDA00038644115800000210
Then at the position
Figure FDA00038644115800000211
The place is drawn as a polar region circular orbit relay star 1, and
Figure FDA00038644115800000212
if it is
Figure FDA00038644115800000213
Then let i RS1 =1, and in position
Figure FDA00038644115800000214
A polar region circular orbit relay star 1 is drawn;
<4>if it is not
Figure FDA0003864411580000031
Is in position
Figure FDA0003864411580000032
The place is drawn as a polar region circular orbit relay star 2, and
Figure FDA0003864411580000033
if it is
Figure FDA0003864411580000034
Then let i RS2 =1, and in position
Figure FDA0003864411580000035
A polar region circular orbit relay star 2 is drawn;
<5>if it is not
Figure FDA0003864411580000036
Then at the position
Figure FDA0003864411580000037
The place is drawn as a polar region circular orbit relay star 3', and
Figure FDA0003864411580000038
if it is
Figure FDA0003864411580000039
Then let i RS3 =1, and at a position
Figure FDA00038644115800000310
A polar region circular orbit relay star 3 is drawn;
<6>if it is used
Figure FDA00038644115800000311
Then at the position
Figure FDA00038644115800000312
The place is drawn as a polar region circular orbit relay star 4
Figure FDA00038644115800000313
If it is
Figure FDA00038644115800000314
Then let i RS4 =1, and in position
Figure FDA00038644115800000315
A polar region circular orbit relay star 4 is drawn;
<7>if it is not
Figure FDA00038644115800000316
Then at the position
Figure FDA00038644115800000317
The 'polar region circular orbit relay star 5' is drawn at
Figure FDA00038644115800000318
If it is
Figure FDA00038644115800000319
Then let i RS5 =1, and at a position
Figure FDA00038644115800000320
A polar region circular orbit relay star 5 is drawn;
<8>if it is used
Figure FDA00038644115800000321
Then at the position
Figure FDA00038644115800000322
The place is drawn as a polar region circular orbit relay star 6
Figure FDA00038644115800000323
If it is
Figure FDA00038644115800000324
Then let i RS6 =1, and at a position
Figure FDA00038644115800000325
A polar region circular orbit relay star 6 is drawn;
and 5: the "connection points" involved in the communication link include: a ground base station, a space base station, a polar region circular orbit relay star 1, a polar region circular orbit relay star 2, a polar region circular orbit relay star 3, an equatorial circular orbit relay star 4, an equatorial circular orbit relay star 5 and an equatorial circular orbit relay star 6;
1) Each "connection point" is defined and assigned as follows:
the ground base station is a connection point A, and has A = xi GB (i GB ) (ii) a The polar region circular orbit relay star 1 is a connecting point B and is provided with
Figure FDA00038644115800000326
The polar region circular orbit relay star 2 is a connecting point C and is provided with
Figure FDA00038644115800000327
The polar region circular orbit relay star 3 is a connecting point D and is provided with
Figure FDA00038644115800000328
"relay star 4 on equatorial orbit" is a connection point E and has
Figure FDA00038644115800000329
The 'equator orbit relay star 5' is a connecting point F and is provided with
Figure FDA00038644115800000330
"relay star 6 on equatorial orbit" is a connection point G and has
Figure FDA0003864411580000041
"spatial base station" is a connection point H, and has H = xi SB (i SB )；
2) Calling a shortest and connected communication Link searching algorithm to search the shortest and connected communication Link corresponding to the current time t min And outputting the corresponding time delay value D STS (nn)；
3) And (3) calculating:
Figure FDA0003864411580000042
step 6, judging: if T > T end Ending and outputting the time delay value set D STS Otherwise, step 4 is executed.
2. The method for implementing minimum delay of a spatial teleoperation system based on relay communication according to claim 1, wherein: and N is a positive integer.
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