CN104369877B - The method for designing that a kind of deep space probe antenna points to - Google Patents

Abstract

The present invention provides the method for designing that a kind of deep space probe antenna points to, and concretely comprises the following steps: the expression that step one, calculating detector the earth's core orientation vector are fastened at mechanical coordinateStep 2, according to described

Description

Design method for deep space probe antenna direction

Technical Field

The invention relates to the technical field of deep space detection, in particular to a design method for the direction of an antenna of a deep space detector.

Background

In the course of earth-moon transfer and lunar flight, the deep space probe is usually oriented to the sun by using a fixed shaft (hereinafter defined as + X axis) of a mechanical system in a normal cruising mode and in a non-moon imaging state, so as to ensure that the normal direction of the sun wing is parallel to the sunlight direction. Under the condition, if the mounting direction of the omnidirectional measurement and control antenna can be parallel to the +/-X axis, whether the detector rotates around the X axis or not does not influence the included angle between the axis of the antenna and the detector-measurement and control station, and therefore the cruise flight attitude of the detector is not constrained. Under the condition, the detector adopts a slow rotation posture, so that the concave point of the antenna can be avoided, and the anti-interference capability can be improved by utilizing the characteristic of spin stability.

However, for a detector with a complex configuration, the number of devices on the surface of the detector body is large, so that the installation space is limited, and a layout form with a certain included angle with the +/-X axis of the detector is required to reduce the influence of the shielding of the devices around the antenna on the gain of the antenna as much as possible. Under the layout, if the detector adopts a self-rotating mode, an included angle between an antenna axis and the detector-measurement and control station may periodically change within a range of 0-180 degrees, if the ground measurement and control system performs uplink command sending operation, the ground needs to judge antennas beneficial to the ground in real time, and uplink frequency points are frequently and periodically switched (usually, 2 sets of omnidirectional antennas A and B are configured in the whole space of the detector, the omnidirectional antennas A and B are respectively responsible for half of the space, the pointing directions are 180 degrees different, and the point frequencies of the omnidirectional antennas A and B are different) to adapt to the change of the included angle, so that the working intensity and task complexity of monitoring and operation of the ground measurement and control system are increased, and meanwhile, in the switching process, uplink recapture is encountered, which means that uplink instructions cannot be sent in the period, and the emergency handling capacity is reduced. However, if the probe is not spun, the analysis also shows that when the + X axis of the probe is oriented to the sun, and the Y, Z axis is oriented to some specific directions, the included angle between the antenna axis and the probe-measurement and control station is always in the vicinity of 90 degrees, so that the gain of the omnidirectional antenna on the upper surface and the lower surface of the probe is the lowest, and the problem of frequent switching of point frequency still exists. If the antenna is pointed, the sun-oriented axis of the detector is simply deviated from the sun vector, and the pointing direction cannot be completely adapted because most of the solar wings are not driven by double axes, so that the normal line of the solar wings deviates from the direction of the sun vector, and the power supply output of the solar wings is influenced; meanwhile, because the sensor is fixedly installed on the detector and the view field is limited, the direction is usually directed to a specific space range, if the sun-oriented axis deviates from the sun vector, the normal sun-oriented capture and tracking of the sun sensor can be influenced, or the star sensor is interfered by stray light such as sunlight and the like, and cannot work normally.

Therefore, the Y, Z axis pointing direction (rotating a certain angle around the X axis) must be optimally designed to solve the above problem while the omni-directional antenna is pointing in the + X axis to the sun.

For the lunar back landing task, because the lander cannot realize direct communication to the ground, data forwarding must be realized by using a lunar ring or a detector (namely a relay satellite) positioned at a lagrangian point (L2 point) of the lunar ring, and in order to improve the efficiency of the lander in data transmission through the relay satellite and particularly to monitor in real time at a key task stage, real-time forwarding needs to be realized, and the relay satellite must adopt two sets of directional antennas, namely, a ground directional antenna and a moon directional antenna. Because the directional antenna has narrow wave beam, and the orbit change of the earth and the moon is considered, a double-shaft rotation tracking mechanism is generally needed to realize continuous long-time earth-to-earth and moon-to-moon pointing, but the problems of increased weight and power consumption, complex pointing control calculation and the like are caused by the adoption of the rotation mechanism.

Therefore, a simpler pointing control method must be designed for the directional antenna to ensure that the antenna is pointed to the moon and the ground simultaneously for a long time and meet the pointing constraint required by the power supply of the solar wing.

Disclosure of Invention

In view of the above, the present invention provides a design method for deep space probe antenna orientation, which can rotate an omnidirectional antenna around an opposite-sun orientation axis by a certain angle without affecting the power supply of a solar wing and the use of a sensor, so as to realize that only one group of antennas is used for most of the time of measurement and control of uplink and downlink, ensure the continuity of the measurement and control process, reduce the operation of switching antennas on the ground, reduce the complexity of ground operation, and improve the link channel margin when the antennas are in a region with larger gain.

The technical solution of the invention is as follows:

a design method for the direction of an antenna of a deep space probe is disclosed, wherein the antenna comprises an omnidirectional antenna, and the design method for the direction of the omnidirectional antenna to the ground specifically comprises the following steps:

the mechanical coordinate system (X, Y, Z) of the detector is defined as: the + X axis is a fixed axis for orienting the sun, and the + Y axis and the + Z axis are determined according to the right-hand coordinate system principle;

step one, calculating the representation of the detector-geocentric orientation vector on a mechanical coordinate system ${\stackrel{\→}{V}}_{2m}=[{\stackrel{\→}{V}}_{2\mathrm{mx}},{\stackrel{\→}{V}}_{2\mathrm{my}},{\stackrel{\→}{V}}_{2\mathrm{mz}}];$

Step two, according to the aboveCalculating an included angle theta between the azimuth vector of the omnidirectional antenna and the detector-measurement and control station;

$\mathrm{\θ}=\arccos \left(\frac{{\stackrel{\→}{V}}_1\·{\stackrel{\→}{V}}_{2m}}{\left|{\stackrel{\→}{V}}_1\right|\left|{\stackrel{\→}{V}}_{2m}\right|}\right)$ wherein, ${\stackrel{\→}{V}}_1=\left[\begin{array}{ccc}{V}_{1x}& V_{1y}& V_{1z}\end{array}\right]$ the azimuth vector of the omnidirectional antenna on the detector on the mechanical coordinate system of the detector is obtained;

and thirdly, when the included angle theta is larger than the maximum allowable angle gamma, enabling the detector to rotate around the + x axis of the mechanical coordinate system of the detector, and enabling the gain of the omnidirectional antenna after rotation to meet the requirements of an uplink and a downlink.

Further, the omnidirectional antenna of the present invention includes an omnidirectional antenna a and an omnidirectional antenna B, and the rotation around the + x axis in the third step is:

the calculation is performed with the azimuth vector of the omni antenna a:

(1) calculating V_1yAngle β from mechanical coordinate system + Y axis₁Calculating V_2myβ from the mechanical coordinate system plus the Y axis₂；

(2) When V is_1x·V_2mxWhen the angle is more than or equal to 0, the omnidirectional antenna A is used after the detector rotates β degrees around the mechanical coordinate system and the X axis;

when V is_1x·V_2mxAt time < 0And judging whether an included angle theta between the azimuth vector of the omnidirectional antenna A and the detector-measurement and control station satisfies the condition that theta is less than or equal to 90 degrees, if so, enabling the detector to rotate around the + X axis according to the calculated β angle, and then using the omnidirectional antenna A, otherwise, enabling the detector to rotate around the + X axis according to the calculated β angle, and then using the omnidirectional antenna B.

Further, the method of the invention is carried out such that the detector is in the earth-moon transition phase and the ring-moon phase.

Further, the specific process of the first step of the invention is as follows:

(a) according to the currently received telemetering data of the detector, the three-axis position of the detector in the geocentric J2000 inertial coordinate system is calculated $\stackrel{\&RightArrow;}{R}={\left[\begin{array}{ccc}{R}_x& R_y& R_z\end{array}\right]}^T,$ The detector-geocentric unit vector is represented in the geocentric J2000 inertial coordinate system as ${\stackrel{\&RightArrow;}{V}}_2=\left[\begin{array}{ccc}{V}_{2x}& V_{2y}& V_{2z}\end{array}\right];$

${\stackrel{\&RightArrow;}{V}}_2=-\frac{\stackrel{\&RightArrow;}{R}}{\left|\stackrel{\&RightArrow;}{R}\right|}$

(b) Calculating a matrix C of converting the geocentric J2000 inertial coordinate system to the mechanical coordinate system of the detector_mbC_bi；

(c) According to the matrix C_mbC_biComputingThe orientation vector under the mechanical coordinate system of the detector is ${\stackrel{\&RightArrow;}{V}}_{2m}=C_{\mathrm{mb}}{C}_{\mathrm{bi}}{\stackrel{\&RightArrow;}{V}}_2.$

Further, the invention is characterized in that the detector is in the lunar cycle phase when the method is executed, and the step one calculatesCalculating the orientation vector of the lunar center-geocentric connecting line vector in the geocentric J2000 inertial coordinate system according to the ephemerisInstead of this.

Furthermore, the antenna of the present invention further comprises a directional antenna, and the directional antenna is designed to point to the ground and point to the moon:

the coordinate system (x, y, z) is defined as: the + x axis points to the moon directional antenna mounting surface, the + z axis points to the ground directional antenna mounting surface, and the + y axis, the + x axis and the + z axis form a rectangular coordinate system according to the right-hand rule;

the detector is fixed on the detector body, and the ground antenna points to the earth center in the lunar white road surface; the detector is mounted on the moon-oriented directional antenna by adopting a double-shaft driving mechanism, when a connecting line of the detector and the landing point of the lander is not enveloped in a range of +/-90 degrees of the orientation of the moon-oriented directional antenna, the detector rotates 180 degrees around the + z axis of the body, and if the lander on the back of the moon is in dormancy at night and has no requirement of forwarding to the ground, the corresponding attitude adjustment is cancelled.

Advantageous effects

The method can realize that only one group of antennas is used for most of the time of measuring and controlling the uplink and the downlink by rotating a certain angle around the sun-facing orientation axis under the condition of not influencing the power supply of the solar wing and the use of the sensor, thereby ensuring the continuity of the measuring and controlling process, reducing the operation of switching the antennas on the ground, reducing the complexity of the ground operation, simultaneously ensuring that the antennas are positioned in an interval with larger gain and improving the link channel margin.

Detailed Description

The present invention will be described in detail with reference to specific examples.

The coordinate system is predefined: the detector control coordinate system is defined as an inertial principal axis coordinate system.

Geocentric J2000 inertial coordinate system: the origin of coordinates is at the earth's centroid, the reference plane is the J2000.0 equatorial plane, the Z-axis north points to the equatorial plane north, the X-axis points to the J2000.0 vernal point, and the Y-axis forms a right-handed system with the X-and Z-axes.

Mechanical coordinate system of the detector: the + X axis is a sun-facing directional axis, the + Y axis points to a specific structural feature of the detector and is vertical to the + X axis, and the + Z axis and the + X axis and the + Y axis form a right-hand coordinate system.

The earth-moon transfer stage and the ring-moon stage:

the ground calculates the rotation angle and direction of the detector around the + X axis according to attitude telemetering data transmitted by the detector, then transmits the calculated result back to the detector, and the detector controls the rotation of the antenna by adjusting the attitude of the detector according to the returned result, so that the included angle between the detector-antenna vector and the detector-earth is minimized, the utilized antenna gain interval is optimized, and the measurement and control link channel margin is increased. Meanwhile, under the condition that the + X axis of the detector is oriented to the sun, the change of the sun vector along the yellow road is slow, and the change of the included angle between the axis of the antenna and the center of the earth of the detector is small in a short time, so that the back-passing operation can be performed by regular calculation at certain intervals.

A design method for the direction of an antenna of a deep space probe is disclosed, wherein the antenna comprises an omnidirectional antenna, and the design method for the direction of the omnidirectional antenna to the ground specifically comprises the following steps:

step one, calculating the representation of the detector-geocentric orientation vector on a mechanical coordinate system ${\stackrel{\&RightArrow;}{V}}_{2m}=[{\stackrel{\&RightArrow;}{V}}_{2\mathrm{mx}},{\stackrel{\&RightArrow;}{V}}_{2\mathrm{my}},{\stackrel{\&RightArrow;}{V}}_{2\mathrm{mz}}];$

Step two, according to the aboveCalculating an included angle theta between the azimuth vector of the omnidirectional antenna and the detector-measurement and control station;

$\mathrm{\&theta;}=\arccos \left(\frac{{\stackrel{\&RightArrow;}{V}}_1\&CenterDot;{\stackrel{\&RightArrow;}{V}}_{2m}}{\left|{\stackrel{\&RightArrow;}{V}}_1\right|\left|{\stackrel{\&RightArrow;}{V}}_{2m}\right|}\right)$

namely, the included angle between the azimuth vector of the omnidirectional antenna and the azimuth vector of the detector-geocentric is obtained, wherein, ${\stackrel{\&RightArrow;}{V}}_1=\left[\begin{array}{ccc}{V}_{1x}& V_{1y}& V_{1z}\end{array}\right]$ the azimuth vector of the omnidirectional antenna on the detector on the mechanical coordinate system of the detector is obtained;

and thirdly, when the included angle theta is larger than the maximum allowable angle gamma, the detector rotates around the + x axis, so that the gain of the rotated omnidirectional antenna meets the requirements of an uplink and a downlink, namely the uplink and the downlink can realize normal continuous capturing and tracking of the corresponding frequency point of the omnidirectional antenna on a certain plane, and the gain of the omnidirectional antenna is larger than that of the omnidirectional antenna on the other plane.

According to the directional diagram of the omnidirectional antenna, when the included angle between the axis of the antenna and the detector-measurement and control station is set within gamma degrees, the corresponding gain margin of the antenna is larger, and the requirements of an uplink link and a downlink link can be met. Whether to adjust the threshold rotational angle about the X-axis is therefore based on the principle that the surface calculates the theta angle in real time from telemetry and tracking data (calculated periodically in conjunction with the telemetry and tracking data update periods). The invention compares the calculated included angle theta between the omnidirectional antenna and the detector-measurement and control station with the maximum allowable angle gamma, if theta is less than or equal to gamma, the gain margin of the directional diagram of the omnidirectional antenna is larger, the requirements of an uplink link and a downlink link can be met, the omnidirectional antenna is not rotated at the moment, if theta is greater than gamma, the gain margin of the omnidirectional antenna which is being used at the moment can not meet the requirements of the uplink link and the downlink link, and the omnidirectional antenna is rotated at the moment, so that the gain of the omnidirectional antenna meets the requirements, and the reliability of the detector and external communication is improved.

The omnidirectional antenna comprises an omnidirectional antenna A and an omnidirectional antenna B, and the rotation around the x axis in the third step is as follows:

the calculation is done with the azimuth vector of the omni-directional antenna a,

(1) calculating V_1yAngle β from mechanical coordinate system + Y axis₁Calculating V_2myβ from the mechanical coordinate system plus the Y axis₂(ii) a Then

$\begin{array}{cc}{\mathrm{\&beta;}}_1=\arccos \left(\frac{V_{1y}}{\sqrt{V_{1y}^2+V_{1z}^2}}\right)& {\mathrm{\&beta;}}_2=\arccos \left(\frac{V_{2\mathrm{my}}}{\sqrt{V_{2\mathrm{my}}^2+V_{2\mathrm{mz}}^2}}\right)\end{array}$

(2) When V is_1x·V_2mxAt the moment, the detector rotates β degrees around the mechanical coordinate system and the X axis, and then an omnidirectional antenna A is used;

when V is_1x·V_2mxAt time < 0The method is the same as the above table, but the included angle judgment is needed to determine which set of omnidirectional antennas is used, that is, whether the included angle theta between the azimuth vector of the omnidirectional antenna A and the detector-measurement and control station satisfies that theta is less than or equal to 90 degrees is determined, if yes, the detector is rotated according to the calculated β and then the omnidirectional antenna A is used, otherwise, the detector is rotated according to the calculated β and then the omnidirectional antenna B is used.

Usually, after the antenna is installed clearly in the mechanical system of the detector, V_1x,V_1y,V_1zβ₁It is certain that the above calculation method can be further simplified. By adopting the method, the continuity of the measurement and control process can be ensured, a group of antennas are used in most of time, the complexity of ground operation is reduced, and meanwhile, the antennas are positioned in a section with larger gain, and the link channel margin is improved.

The rotation angle is filled in a data block, the rotation angle is injected into a computer on a detector through the ground, the computer on the detector takes the value as the deviation amount of the rotation angle around the X axis, and a control algorithm is utilized to drive an actuating mechanism (a thruster or a momentum wheel) to carry out closed-loop control, so that the deviation amount is gradually reduced to zero.

If the detector has the autonomous navigation capability, the computer on the detector autonomously calculates the rotation angle and the direction of the detector around the + X axis according to the method and autonomously executes the rotation angle and the direction. Different from ground calculation, the description of the unit vector of the detector-measurement and control station in the center of the earth J2000 inertial coordinate systemAnd performing autonomous calculation on the device. Starting on day 2 after the detector arrow is detached,can be approximated as a description of the detector-geocentric vector at the geocentric J2000 inertial coordinate system to simplify the calculation.

Generally, 2 sets of omnidirectional antennas (an omnidirectional antenna a and an omnidirectional antenna B, the pointing directions of a and B are 180 degrees different) are configured in the full space of the detector, and each is responsible for the measurement and control task of the hemispherical space. When the detector has at least two sets of omnidirectional antennas, the omnidirectional antenna aimed at in the second step and the third step is an A or B omnidirectional antenna.

The invention calculates the representation of the detector-geocentric orientation vector on the mechanical coordinate systemThe specific process comprises the following steps:

(1) obtaining T according to the detector attitude telemetering data₀Attitude quaternion Q of time detector control coordinate system relative to geocentric J2000 inertial coordinate system₀。

(2) The attitude transformation matrix of the probe control coordinate system transformed to the mechanical coordinate system is C_mb。

(3) Generally, 2 sets of omnidirectional antennas (an omnidirectional antenna a and an omnidirectional antenna B, the pointing directions of a and B are 180 degrees different) are configured in the full space of the detector, and each is responsible for the measurement and control task of the hemispherical space. The following description is given with an omni-directional antenna a:

set the orientation vector and mechanical coordinate system O of the omnidirectional antenna A_m-X_mY_mZ_mThe three axes of the omnidirectional antenna are included at an angle of (α, gamma), the orientation vector of the omnidirectional antenna A is expressed in the mechanical coordinate system of the detector as ${\stackrel{\&RightArrow;}{V}}_1=\left[\begin{array}{ccc}{V}_{1x}& V_{1y}& V_{1z}\end{array}\right]=\left[\begin{array}{ccc}\cos \mathrm{\&alpha;}& \cos \mathrm{\&beta;}& \cos \mathrm{\&gamma;}\end{array}\right].$

(4) According to ground measurement and controlThe system orbit determination result is obtained T₀Three-axis position of time detector in geocentric J2000 inertial coordinate system $\stackrel{\&RightArrow;}{R}={\left[\begin{array}{ccc}{R}_x& R_y& R_z\end{array}\right]}^T,$ The detector-geocentric unit vector is represented in the geocentric J2000 inertial coordinate system as

${\stackrel{\&RightArrow;}{V}}_2=-\frac{\stackrel{\&RightArrow;}{R}}{\left|\stackrel{\&RightArrow;}{R}\right|}$

Wherein, ${\stackrel{\&RightArrow;}{V}}_2=\left[\begin{array}{ccc}{V}_{2x}& V_{2y}& V_{2z}\end{array}\right].$

(5) quaternion Q of the attitude in (1)₀Conversion to attitude transformation matrix C_bi(from the geocentric J2000 inertial coordinate system to the control coordinate system), the transformation matrix from the geocentric J2000 inertial coordinate system to the mechanical coordinate system of the detector is C_mbC_bi；

(6)In the mechanical coordinate system of the detectorHas an orientation vector of

And (3) a ring month stage:

after the detector is in the circle of moon, the calculation method is the same as the earth-moon transfer stage. Because the moon center-earth center connecting line vector is basically consistent with the unit vector direction of the detector-measurement and control station, the direction vector of the moon center-earth center connecting line vector in the earth center J2000 inertial coordinate system can be calculated according to ephemerisSubstitutionTo simplify the calculation.

The antenna of the invention also comprises a directional antenna, and the design of the directional antenna for the ground direction and the moon direction is as follows: the coordinate system (x, y, z) is defined as: the + x axis points to the moon directional antenna mounting surface, the + z axis points to the ground directional antenna mounting surface, and the + y axis, the + x axis and the + z axis form a rectangular coordinate system according to the right-hand rule;

(1) for a lunar orbit detector (relay star), the following directional control mode is designed:

the detector is fixed on the detector body, the ground antenna points to the ground center in the lunar orbit, and the detector rotates around the mechanical coordinate system and the y axis under the condition that the detector is not shielded by the moon, so that the ground directional antenna can continuously point to the ground, and the rotation period is 1 month. The detector adopts a double-shaft driving mechanism for the lunar directional antenna, and is influenced by lunar autorotation within one month, and the lunar processing longitude of a landing zone relative to an orbital plane changes periodically. When the connecting line of the landing point of the relay satellite and the landing device is not enveloped in the range of +/-90 degrees pointed by the directional antenna, the relay satellite needs to rotate 180 degrees around the body + z axis, the adjustment period is up to four times within 1 month, and when the landing device on the back of the moon is in dormancy at night and has no need of forwarding, the corresponding attitude adjustment can be cancelled.

The sun wing of the relay satellite is arranged on a mechanical coordinate system +/-Y axis of the detector, can rotate around the +/-Y axis, and can rotate around the Y axis at a constant speed of about 1 degree/day by considering that the included angle of the lunar and lunar surfaces of the ecliptic surface is small (about 5 degrees), so that the sun wing can rotate around the Y axis at an angular speed of about 1 degree/day to realize sun orientation, and the rotation period is 1 year.

The invention can meet the condition that the solar wing supplies power to restrain the attitude pointing for the detector (namely the relay satellite) supporting the landing task on the back of the moon, and only adopts a group of double-shaft driving mechanisms to realize the synchronous pointing requirement of the directional antenna on the moon and the ground.

(2) For the detector (relay star) at the point L2, the following directional control mode is designed:

the detector is fixed on the detector body, and the ground antenna points to the earth center in the lunar white road surface; under the condition that the detector is not shielded by the moon, the detector rotates around a mechanical coordinate system and a y axis to realize continuous ground pointing of the ground directional antenna, and the rotation period is 1 month. The detector adopts a double-shaft driving mechanism for the moon directional antenna, when a connecting line of a landing point of the relay satellite and the lander is not enveloped in a range of +/-90 degrees pointed by the moon directional antenna, the relay satellite rotates 180 degrees around the body + z axis, and if the lander on the back of the moon is in dormancy at night and has no requirement of forwarding to the ground, corresponding attitude adjustment is cancelled.

The sun wing at point L2 is controlled in the same manner as the lunar orbit. The directional antenna adopts the adjustment form, so that smooth communication can be carried out between the lunar directional antenna and the lunar back lander.

In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (6)

1. The design method for the direction of the deep space probe antenna comprises a measurement and control antenna, wherein the measurement and control antenna comprises an omnidirectional antenna, and the design method is characterized in that the specific steps of the omnidirectional antenna for the direction to the ground are as follows:

step one, calculating the representation of the detector-geocentric orientation vector on a mechanical coordinate system

Step two, according to the aboveCalculating an included angle theta between the azimuth vector of the omnidirectional antenna and the detector-measurement and control station;

$\mathrm{\&theta;}=arccos\left(\frac{{\stackrel{\&RightArrow;}{V}}_1\&CenterDot;{\stackrel{\&RightArrow;}{V}}_{2m}}{\left|{\stackrel{\&RightArrow;}{V}}_1\right|\left|{\stackrel{\&RightArrow;}{V}}_{2m}\right|}\right)$

wherein, ${\stackrel{\&RightArrow;}{V}}_1=\left[\begin{array}{ccc}{V}_{1x}& V_{1y}& V_{1z}\end{array}\right]$ the azimuth vector of the omnidirectional antenna on the detector on the mechanical coordinate system of the detector is obtained;

and thirdly, when the included angle theta is larger than the maximum allowable angle gamma, enabling the detector to rotate around the + x axis of the mechanical coordinate system of the detector, and enabling the gain of the omnidirectional antenna after rotation to meet the requirements of an uplink and a downlink.

2. The design method for directing the deep space probe antenna according to claim 1, wherein the omnidirectional antenna comprises an omnidirectional antenna A and an omnidirectional antenna B, and the rotation around the + x axis in the third step is as follows:

the calculation is performed with the omni-directional antenna a as the azimuth vector,

(1) calculating V_1yAngle β from mechanical coordinate system + Y axis₁Calculating V_2myβ from the mechanical coordinate system plus the Y axis₂；

(2) When V is_1x·V_2mxWhen the angle is more than or equal to 0, the omnidirectional antenna A is used after the detector rotates β degrees around the mechanical coordinate system and the X axis;

when V is_1x·V_2mxWhen the angle theta between the azimuth vector of the omnidirectional antenna A and the detector-measurement and control station is less than 0, judging whether the angle theta between the azimuth vector of the omnidirectional antenna A and the detector-measurement and control station is less than or equal to 90 degrees, if so, enabling the detector to rotate around the + X axis according to the calculated β angle, then using the omnidirectional antenna A, otherwise, enabling the detector to rotate around the + X axis according to the calculated β angle, and then using the omnidirectional antenna B.

3. The design method for antenna orientation of deep space probe according to claim 2, wherein the design method is performed such that the probe is in the earth-moon transition phase and the ring-moon phase.

4. The design method for the antenna direction of the deep space probe according to claim 1 or 3, wherein the specific process of the first step is as follows:

(a) according to the currently received telemetering data of the detector, the three-axis position of the detector in the geocentric J2000 inertial coordinate system is calculated $\stackrel{\&RightArrow;}{R}={\left[\begin{array}{ccc}{R}_x& R_y& R_z\end{array}\right]}^T,$ The detector-geocentric unit vector is represented in the geocentric J2000 inertial coordinate system as ${\stackrel{\&RightArrow;}{V}}_2=\left[\begin{array}{ccc}{V}_{2x}& V_{2y}& V_{2z}\end{array}\right];$

${\stackrel{\&RightArrow;}{V}}_2=-\frac{\stackrel{\&RightArrow;}{R}}{\left|\stackrel{\&RightArrow;}{R}\right|}$

(b) Calculating a matrix C of converting the geocentric J2000 inertial coordinate system to the mechanical coordinate system of the detector_mbC_bi；

(c) According to the matrix C_mbC_biComputingThe orientation vector under the mechanical coordinate system of the detector is ${\stackrel{\&RightArrow;}{V}}_{2m}=C_{mb}{C}_{bi}{\stackrel{\&RightArrow;}{V}}_2.$

5. Design method for antenna pointing direction of deep space probe according to claim 1 or 2Wherein, when the detector is in the lunar cycle stage, the calculation of the step oneCalculating the orientation vector of the lunar center-geocentric connecting line vector in the geocentric J2000 inertial coordinate system according to the ephemerisInstead of this.

6. The design method for the deep space probe antenna direction is characterized in that the measurement and control antenna further comprises a directional antenna, and the design of the directional antenna for the ground direction and the moon direction is as follows:

the coordinate system (x, y, z) is defined as: the + x axis points to the moon directional antenna mounting surface, the + z axis points to the ground directional antenna mounting surface, and the + y axis, the + x axis and the + z axis form a rectangular coordinate system according to the right-hand rule;

the detector is fixed on the detector body, and the ground antenna points to the earth center in the lunar white road surface; the detector is mounted on the moon-oriented directional antenna by adopting a double-shaft driving mechanism, when a connecting line of the detector and the landing point of the lander is not enveloped in a range of +/-90 degrees of the orientation of the moon-oriented directional antenna, the detector rotates 180 degrees around the + z axis of the body, and if the lander on the back of the moon is in dormancy at night and has no requirement of forwarding to the ground, the corresponding attitude adjustment is cancelled.