CN109085586B - Four-star Helix formation configuration capable of providing stable long and short baselines - Google Patents
Four-star Helix formation configuration capable of providing stable long and short baselines Download PDFInfo
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- CN109085586B CN109085586B CN201810860789.6A CN201810860789A CN109085586B CN 109085586 B CN109085586 B CN 109085586B CN 201810860789 A CN201810860789 A CN 201810860789A CN 109085586 B CN109085586 B CN 109085586B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
- G01S13/90—Radar or analogous systems specially adapted for specific applications for mapping or imaging using synthetic aperture techniques, e.g. synthetic aperture radar [SAR] techniques
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
- G01S13/90—Radar or analogous systems specially adapted for specific applications for mapping or imaging using synthetic aperture techniques, e.g. synthetic aperture radar [SAR] techniques
- G01S13/904—SAR modes
- G01S13/9058—Bistatic or multistatic SAR
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
- G01S13/90—Radar or analogous systems specially adapted for specific applications for mapping or imaging using synthetic aperture techniques, e.g. synthetic aperture radar [SAR] techniques
- G01S13/9021—SAR image post-processing techniques
- G01S13/9023—SAR image post-processing techniques combined with interferometric techniques
Abstract
The invention discloses a four-star Helix formation configuration capable of providing a stable long and short base line. The invention can provide stable vertical effective long base line and vertical effective short base line in one orbit period, thereby measuring height by high-precision interference of the long base line and the short base line. The configuration of the invention comprises 1 main satellite and 3 auxiliary satellites, wherein the main satellite orbit and each auxiliary satellite orbit are respectively a double-Helix orbit meeting the Helix configuration; according to the configuration, at any time in the formation flying process, the main satellite and one auxiliary satellite can form an optimal vertical effective baseline to meet the value range index of the optimal baseline, and the effective long baseline formed between the two auxiliary satellites exists at any time, so that a group of stable effective long baselines and stable short baselines always exist at any time in the whole orbit period, and the high-precision interference height measurement can be realized by using the long baseline and the short baseline combined baselines.
Description
Technical Field
The invention relates to the technical field of distributed SAR systems, in particular to a four-star Helix formation configuration capable of providing a stable long and short baseline.
Background
The traditional SAR satellite is limited by a platform, a sufficiently long space baseline is difficult to form, an interference complex image can be obtained only in a repeated flight path mode, and the correlation of the image is greatly reduced along with the time; the satellites in the distributed satellite system do not need to be physically connected, a large enough flexible and variable baseline is provided through reasonable design of a formation configuration, a plurality of coherent complex images in the same region can be obtained simultaneously, and the correlation of interference processing is guaranteed.
The terraSAR-X/TanDEM-X double-star formation interference SAR system of the German space center (DLR) is the first distributed SAR system with interference capability in the world, two satellites synchronously form a formation flying in a short distance in the sun, and a HELIX satellite operation mode is adopted, so that a mode that the two satellites fly in a double HELIX shape along an orbit is formed, and baselines of vertical and parallel orbital planes can be formed due to relative displacement between the satellites. However, under the condition that the two-star orbit is not adjusted, only one group of effective vertical baselines exist, and the effective vertical baselines cannot exist all the time in one orbit period, so that the global high-precision surveying and mapping task is completed by adopting the effective vertical baselines, and the efficiency is low.
Disclosure of Invention
In view of the above, the invention provides a four-star Helix formation configuration capable of providing stable long and short baselines, and can provide stable vertical effective long baselines and vertical effective short baselines at any time in one track period, so that in the process of inverting the terrain by using interference data, a fine structure of the terrain is reflected by using the dense fringe characteristic of a long baseline interferogram, phase expansion is performed by using the sparse characteristic of a short baseline interferogram, and the requirement of high-precision interferometry is met by using the combination of the long and short baselines.
The invention can provide a four-star Helix formation configuration for stabilizing a long and short base line, takes any one satellite as a main satellite and the other three satellites as auxiliary satellites, and the main satellite orbit and each auxiliary satellite orbit are respectively double Helix orbits meeting the Helix configuration; and at any time, the main satellite and one of the auxiliary satellites can form an optimal vertical effective baseline meeting the optimal baseline value range, and at any time, an effective long baseline formed between the two auxiliary satellites exists, so that a group of stable effective long baselines and stable short baselines always exist at any time in the whole orbit period.
Further, the design method of the orbit of four satellites is as follows:
step 1, determining orbit types, orbit heights and downward viewing angles of 4 satellites according to task requirements to obtain 4 satellite primary orbits meeting the task requirements; wherein, the semimajor axes of the 4 satellites are the same;
step 2, on the basis of the step 1, modifying the orbit of the main satellite and the orbit of the auxiliary satellite 1 into a double-Helix orbit which meets the Helix configuration, and enabling a baseline between the main satellite and the auxiliary satellite 1 to meet the optimal baseline value range index; obtaining the modified orbit parameters of the main satellite and the auxiliary satellite 1;
step 3, keeping the orbit parameters of the primary satellite and the secondary satellite 1 unchanged, and determining the orbit parameters of the secondary satellite 2:
the eccentricity ratio of the auxiliary satellite 2 is the same as that of the auxiliary satellite 1, and the orbit inclination angle and the rising point right ascension of the auxiliary satellite 2 orbit are adjusted, so that the auxiliary satellite 2 orbit and the main satellite orbit are double Helix orbits meeting the Helix configuration; calculating whether a baseline between the satellite 2 and the main satellite meets the optimal baseline value range index, if so, executing the step 4, and if not, adjusting the near-location amplitude angle and the true near-point angle of the satellite 2 orbit to enable the baseline between the satellite 2 and the main satellite to meet the optimal baseline range requirement index;
step 4, keeping the orbit parameters of the main satellite, the auxiliary satellite 1 and the auxiliary satellite 2 unchanged, and determining the orbit parameter of the auxiliary satellite 3 by adopting the mode of the step 3; wherein, the orbit dip angle of the auxiliary satellite 3 is different from the orbit dip angle of the auxiliary satellite 2;
and 5, calculating baselines between every two auxiliary satellites, judging whether the vertical effective baselines between the auxiliary satellites cover the whole orbit period, if so, enabling the current 4-satellite orbit to meet the design requirements, and if not, adjusting the orbit parameters of the auxiliary satellites to enable the orbit parameters to meet the requirements of a double-Helix orbit forming a Helix structure with the orbit of the main satellite and the vertical effective baselines between the main satellite and the auxiliary satellites and meet the coverage of the vertical long baselines between the auxiliary satellites.
Has the advantages that:
the invention provides a four-satellite Helix formation configuration design capable of providing stable long and short baselines, stable vertical effective baselines can be formed between every two satellites under the configuration in the flight process, in the formed 6-satellite combination, a vertical effective short baseline formed by a main satellite and an auxiliary satellite meets the optimal baseline value range index at any time in the formation flight process, and a vertical effective long baseline formed by two auxiliary satellites; therefore, through reasonable task planning, in the process of inverting the terrain by using interference data, the fine structure of the terrain can be reflected by well utilizing the dense fringe characteristic of a long-baseline interference pattern, the phase expansion is carried out by utilizing the sparse fringe characteristic of a short-baseline interference pattern, the requirement of high-precision interference height measurement is met by adopting the combination of a long baseline and a short baseline, the relative height measurement precision can reach 0.5m, and the mapping and drawing requirement of a 1:5000 scale can be met.
The formation configuration of the invention can form a group of stable and effective long and short baselines required by interference signal processing at any time in the whole track period, thereby improving the system efficiency, and compared with the prior German Tandem-X, the efficiency is improved by three times.
The four-star Helix formation configuration flies along the tracks in the double-Helix relative position relationship, and no intersection point exists between any two-star tracks, so that collision between satellites is effectively avoided.
The distributed SAR system designed according to the method has the high-precision imaging/surveying and mapping capability of all-weather, high-efficiency and global land, can be applied to the field of topographic surveying and mapping, provides an important guarantee for improving the application level of remote sensing quantification in related industries of China, can provide high-precision surveying and mapping products, prepares topographic maps with various scales, meets various application requirements, promotes the development of satellite remote sensing industry of China, and is a powerful supplement of the existing optical surveying and mapping system of China.
Drawings
Fig. 1 shows the effective baseline length between each two of the four stars being queued up in one orbital cycle.
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
The invention provides a four-star Helix formation configuration capable of providing a stable long and short base line. Wherein, any one satellite is taken as a reference satellite and is called as a main satellite, the other three satellites are called as auxiliary satellites, and the main satellite orbit and each auxiliary satellite orbit form a double-Helix orbit which meets the Helix configuration. The distance between the variation trajectories of the positions of the two satellites relative to the primary star represents the vertical effective baseline between the two satellites; the distance between the locus of change in the positions of the primary and secondary stars represents the vertical effective baseline between the primary and secondary stars; the vertical effective baselines between the main satellite and each auxiliary satellite and the vertical effective baselines between every two auxiliary satellites cover the whole orbit period. Two satellites are selected, and the vertical effective baseline between the two satellites changes obviously in one orbit period and cannot form the expected stable effective interference baseline. However, if two satellites are alternately selected as the interference satellite pair, a stable effective interference baseline can be obtained in the whole orbit period. Similarly, one auxiliary satellite and one main satellite are alternately selected as an interference satellite pair, and a stable effective interference baseline in the whole orbit period can be obtained; meanwhile, the length of a vertical effective baseline A formed between the auxiliary satellites is longer than that of a vertical effective baseline B formed between the main satellite and the auxiliary satellite; thus, in this configuration, at any time during an orbital period, there must be a vertical effective short baseline provided by the primary satellite and one of the secondary satellites, and a vertical effective long baseline provided by both secondary satellites, as shown in fig. 1; according to the design requirement of the system, taking a vertical effective baseline B formed between a main satellite and an auxiliary satellite as an optimal vertical effective baseline meeting the highest-precision measurement, and performing phase expansion by using the characteristic of sparse fringes of a short baseline interferogram; the vertical effective baseline A formed between the auxiliary stars is used for performing subsequent optimization processing on the auxiliary baseline B, the topographic fine structure is reflected by the characteristic that fringes of the long baseline interference pattern are dense, the high-precision interference height measurement requirement is realized by combining the long baseline and the short baseline, the relative height measurement precision can reach 0.5m, and the mapping and drawing requirement of a 1:5000 scale is met.
The specific design method of the orbit of 4 satellites is as follows:
step 1, determining orbit types, orbit heights and downward viewing angles of 4 satellites according to task requirements to obtain 4 satellite primary orbits meeting the task requirements; wherein, the semimajor axes of the 4 satellites are the same;
step 2, on the basis of the step 1, modifying the orbit of the main satellite and the orbit of the auxiliary satellite 1 into a double-Helix orbit which meets the Helix configuration, and enabling a baseline between the main satellite and the auxiliary satellite 1 to meet the optimal baseline value range index; obtaining the modified orbit parameters of the main satellite and the auxiliary satellite 1;
step 3, keeping the orbit parameters of the primary satellite and the secondary satellite 1 unchanged, and determining the orbit parameters of the secondary satellite 2: the eccentricity ratio of the auxiliary satellite 2 is the same as that of the auxiliary satellite 1, and the orbit inclination angle and the rising intersection right ascension of the auxiliary satellite 2 orbit are adjusted, so that the auxiliary satellite 2 orbit and the main satellite orbit are double Helix orbits meeting the Helix configuration; and (4) calculating whether the baseline between the auxiliary satellite 2 and the main satellite meets the baseline range requirement index, if so, executing the step 4, and if not, adjusting the perigee amplitude angle and the true perigee angle of the auxiliary satellite 2 orbit to enable the baseline between the auxiliary satellite 2 and the main satellite to meet the baseline range requirement index.
Step 4, keeping the orbit parameters of the main satellite, the auxiliary satellite 1 and the auxiliary satellite 2 unchanged, determining the orbit parameters of the auxiliary satellite 3 by adopting the mode of the step 3, and only when adjusting the orbit inclination angle of the orbit of the auxiliary satellite 3, avoiding the orbit inclination angle of the orbit of the auxiliary satellite 2 from being the same as that of the orbit of the auxiliary satellite 3 so as to avoid the orbit coincidence of the auxiliary satellite 3 and the auxiliary satellite 2;
and 5, calculating a base line between the auxiliary satellites, judging whether the optimal vertical short base line between the auxiliary satellites covers the whole orbit period, if so, enabling the current 4-satellite orbit to meet the design requirement, and if not, adjusting the orbit parameters of the auxiliary satellites to enable the orbit parameters to meet the requirement of a double-Helix orbit forming a Helix structure with the main satellite orbit and the base line requirement index between the auxiliary satellites and the main satellite, and also meet the optimal vertical short base line coverage between the auxiliary satellites.
The following is described with reference to a specific example:
step 1, determining orbit types, orbit heights and downward viewing angles of 4 satellites according to task requirements to obtain 4 satellite primary orbits meeting the task requirements;
TABLE 1 initial input parameters System design requirements
And acquiring parameters of the 4 satellites in the preliminary orbit meeting the task requirement by adopting a Hill equation set:
the Hill equation set (also called Clohessy-Wilshire equation set) approximates the relative motion between the stars in the free state in the satellite formation in the rotating coordinate system, and is a mathematical tool for the orbit design of the satellite formation. This transformation of the coordinate system allows the system of satellite motion differential equations to be approximately linearized. For a period T under an undisturbed Kepler motion model0Of the close-to-circular orbit, Clohessy-Wilshire equation of
Wherein, the x axis is the radial vector from the satellite to the earth center, the y axis is the vector of the satellite motion direction, the z axis is the normal vector of the orbit plane, and delta yiRepresenting a constant offset of the satellite along the heading with respect to the rotating coordinate system. As can be seen from equations (1) to (3), the motion of the satellite along the normal vector of the orbit is simple harmonic vibration and completely independent of the x-y plane. The motion track in the x-y plane has a semimajor axis AiEllipse with eccentricity of 0.5.
Due to the non-uniform sphere of the earth, the satellite receives non-linear gravitation in the orbit period, and the orbit of the satellite has a long-period change. If these changes can be eliminated, the orbit of the satellite can be considered stationary; if not eliminated, the perigee of the satellite orbit will move along the orbit. The motion is called the translation of heaven, and the period calculation method is
Wherein the content of the first and second substances,
is the rate of change of argument of the near site. The cycle of the translation is calculated to be about 104 days.
To describe the relative motion between the satellites, a cartesian rotation coordinate system needs to be established: the x-axis (the motion of the satellite along the air) points to the flight direction, the y-axis (the motion perpendicular to the orbital plane) is parallel to the normal vector of the orbit, and the z-axis (the motion in the elevation direction) points from the center of mass of the earth to the center of mass of the satellite. Mathematically, the unit vector of the three axes can be expressed as
Wherein the content of the first and second substances,
is the vector of the velocity of the satellite,
is the satellite position vector. Phase position between two starsThe relationship can be expressed as
In a near-circular orbit, the motion can be approximated as linear, with the magnitudes of the components being as follows
Δralong＝-2aΔecos(u+ψ)+Δxalong (9)
Δrcross＝-aΔicos(u) (10)
Δrradial＝-2aΔesin(u+ψ) (11)
Where Δ e is the difference in eccentricity between two stars, u is the latitude value, Δ xalongIs any offset along the heading. Since the inclination angles of the two star orbit planes are the same, the delta i is the included angle between the ascension points and the right ascension channels. Thus, a hyperbolic configuration is defined by three parameters: height offset a delta e, horizontal offset a delta i and balance dynamic angle psi. Dynamic angle psi of balance at TlibrationThe time is changed from 0 degree to 360 degrees. Stable data acquisition geometry requires constant translational phase psi, which is mapped by orbit control via a propulsion system.
First, assume that the orbit of the main satellite is circular, i.e. eccentricity esWhen the orbit semi-major axis of the main star is equal to that of the auxiliary star, the Hill equation set under the near-circular orbit under the assumption is given
Wherein a represents the major axis of the orbit of the main satellite, ecAs an aid to the eccentricity of the orbit, omegacThe amplitude angle of the satellite at the near place, delta omega and delta i are respectively the difference value of the right ascension and orbit inclination of the orbit between the main satellite and the satellite, isIs the orbital inclination of the main star. Let Δ i equal to 0, the above equation can be simplified to
As the numeric area of the baseline is 500-600 m, the maximum vertical baseline length under the formation configuration is 550m, and the projection of the Helix configuration in the vertical heading plane is circular. The input conditions for deriving the configuration design are
The number of tracks can be determined by taking the above input conditional expression (14) into the expression (13). The number of orbits of the main star and the satellite 1 finally obtained from the input conditions of table 1 is shown in table 2.
TABLE 2 orbital elements of the Master satellite and the satellite under Helix configuration
| Number of tracks | Master star | Assistant 1 |
| Semi-major axis | 6892.1km | 6892.1km |
| Eccentricity |
0 | 0.0000102 |
| Inclination angle of track | 97.4° | 97.4° |
| Ascending crossing point of the |
0° | 0.004572° |
| Argument of |
0° | 90° |
| True proximal angle | 90° | 0° |
Step 3, keeping the orbit parameters of the main satellite and the auxiliary satellite 1 unchanged, forming a formation configuration according to the main satellite and the auxiliary satellite 1, adjusting the eccentricity of the auxiliary satellite 2 to be consistent with that of the auxiliary satellite 1, adjusting the orbit inclination angle and the rising intersection point right ascension of the auxiliary satellite 2 orbit, substituting the formula (14) into the formula (13), and obtaining the auxiliary satellite 2 orbit meeting the Helix configuration; and (3) calculating whether the baseline between the satellite 2 and the main satellite meets the baseline range requirement index, if so, executing the step (4), and if not, continuously adjusting the perigee amplitude angle and the true perigee angle of the satellite 2 orbit, so that the baseline between the satellite 2 and the main satellite also meets the requirement baseline range requirement index under the condition that the satellite and the main satellite form a double Helix orbit of a Helix structure.
And 4, keeping the orbit parameters of the main satellite, the auxiliary satellite 1 and the auxiliary satellite 2 unchanged, determining the orbit parameters of the auxiliary satellite 3 in the mode of the step 3, and only when the orbit inclination angle of the auxiliary satellite 3 orbit is adjusted, avoiding the orbit inclination angle of the auxiliary satellite 3 orbit being the same as that of the auxiliary satellite 2 orbit so as to avoid the orbit coincidence of the auxiliary satellite 3 and the auxiliary satellite 2.
And 5, calculating a vertical effective baseline between every two auxiliary satellites, judging whether the vertical effective baseline between the auxiliary satellites covers the whole orbit period, if so, enabling the current 4-satellite orbit to meet the design requirements, and if not, adjusting the orbit parameters of the auxiliary satellites to enable the orbit parameters to meet the requirements of a double-Helix orbit forming a Helix structure with the main satellite orbit and a baseline between the main satellite and the auxiliary satellite and also meet the coverage of the vertical effective baseline between the auxiliary satellites in the whole orbit period.
The orbit parameters of the four stars finally obtained are shown in table 3.
TABLE 3 four-star orbital parameters
| Number of tracks | Master star | Assistant 1 | Assistant 2 | Assistant 3 |
| Semi-major axis | 6892.1km | 6892.1km | 6892.1km | 6892.1km |
| Eccentricity |
0 | 0.0000102 | 0.0000102 | 0.0000102 |
| Inclination angle of track | 97.4° | 97.4° | 97.3961 | 97.4039 |
| Ascending crossing point of the |
0° | 0.004572° | -0.002286° | -0.002286° |
| Argument of |
0° | 90° | -150° | -30° |
| True proximal angle | 90° | 0° | 239.99106° | 120.00833° |
Through STK simulation analysis, baselines formed by 4 satellites in a four-satellite Helix formation configuration are shown in figure 1, and it can be seen that at any time in one orbit period, a vertical effective short baseline and a vertical effective long baseline always exist, the short baseline can be kept in an optimal interference baseline interval, the long baselines are kept in stable distribution, and then an optimal interference observation effect can be obtained.
Because 3 auxiliary stars all form double helix structure with the main star, do not have the nodical between the track, consequently fine avoidance collision's risk.
The four-star Helix formation configuration provided by the invention provides a group of optimal interference baselines at any time for high-precision topographic survey, and also provides a group of long baselines to form a long-short baseline combination to improve the phase unwrapping precision, so that the surveying and mapping precision of the system is greatly improved.
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 (2)
1. A four-star Helix formation configuration capable of providing a stable long and short base line is characterized in that any one satellite is taken as a main satellite, the other three satellites are taken as auxiliary satellites, and the main satellite orbit and each auxiliary satellite orbit are double-Helix orbits meeting the Helix configuration; and at any moment, an optimal vertical effective baseline meeting the optimal baseline value range is formed between the main satellite and one of the auxiliary satellites, and an effective long baseline is formed between the two auxiliary satellites.
2. The four-star Helix formation configuration capable of providing a stable long and short baseline according to claim 1, wherein the design method of the orbits of the four satellites is as follows:
step 1, determining orbit types, orbit heights and downward viewing angles of 4 satellites according to task requirements to obtain 4 satellite primary orbits meeting the task requirements; wherein, the semimajor axes of the 4 satellites are the same;
step 2, on the basis of the step 1, modifying the orbit of the main satellite and the orbit of the auxiliary satellite 1 into a double-Helix orbit which meets the Helix configuration, and enabling a baseline between the main satellite and the auxiliary satellite 1 to meet the optimal baseline value range index; obtaining the modified orbit parameters of the main satellite and the auxiliary satellite 1;
step 3, keeping the orbit parameters of the primary satellite and the secondary satellite 1 unchanged, and determining the orbit parameters of the secondary satellite 2:
the eccentricity ratio of the auxiliary satellite 2 is the same as that of the auxiliary satellite 1, and the orbit inclination angle and the rising point right ascension of the auxiliary satellite 2 orbit are adjusted, so that the auxiliary satellite 2 orbit and the main satellite orbit are double Helix orbits meeting the Helix configuration; calculating whether a baseline between the satellite 2 and the main satellite meets the optimal baseline value range index, if so, executing the step 4, and if not, adjusting the near-location amplitude angle and the true near-point angle of the satellite 2 orbit to enable the baseline between the satellite 2 and the main satellite to meet the optimal baseline range requirement index;
step 4, keeping the orbit parameters of the main satellite, the auxiliary satellite 1 and the auxiliary satellite 2 unchanged, and determining the orbit parameter of the auxiliary satellite 3 by adopting the mode of the step 3; wherein, the orbit dip angle of the auxiliary satellite 3 is different from the orbit dip angle of the auxiliary satellite 2;
and 5, calculating baselines between every two auxiliary satellites, judging whether the vertical effective baselines between the auxiliary satellites cover the whole orbit period, if so, enabling the current 4-satellite orbit to meet the design requirement, and if not, adjusting the orbit parameters of the auxiliary satellites to enable the orbit parameters to meet the requirement of the double Helix orbit forming a Helix structure with the main satellite orbit and the optimal vertical effective baseline requirement index between the main satellite and the auxiliary satellites and meet the vertical long baseline coverage between the auxiliary satellites.
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