CN113097720B - Antenna control method for ensuring reliable data transmission of unmanned automatic lunar surface sampling task - Google Patents
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Abstract
Description
技术领域technical field
本发明涉及天线指向目标控制技术领域，具体涉及一种保证月面无人自动采样任务可靠数传的天线控制方法。The invention relates to the technical field of antenna pointing target control, in particular to an antenna control method for ensuring reliable data transmission of unmanned automatic sampling tasks on the lunar surface.
背景技术Background technique
月面无人自主采样任务包括钻取采样及封装和表取采样及封装两大部分工作，在每次进行采样动作前，对采样目标区域地形地貌及月壤环境进行确认是实施采样工作的基础；在实施采样工作过程中，需要对采样状态进行全程可监控，确保采样点选取、目标点取样、样品转移、样品放样等全过程有可视图像；在完成采样动作后，需要对样品舱内样品状态、样品封装状态进行确认，同时还需要保证采样机构转移至避让位置，确保后续月面起飞等动作不受干涉影响。因此，能够在月面采样任务中始终保障可靠数传，即要保证航天器数传天线对地面测控站的高码速率可靠通信，是确保整个任务成功的关键环节。落实到具体实施层面，是能够保障对地实施数据传输的高增益数传天线可以快速、精确指向目标测站，从而确保采样前、采样中、采样后、起飞前全程器-地间数传链路可靠不间断、月面工作状态可控。The unmanned autonomous sampling task on the lunar surface includes two parts: drilling sampling and packaging and surface sampling and packaging. Before each sampling operation, confirming the topography and lunar soil environment of the sampling target area is the basis for the implementation of the sampling work. ; During the sampling process, it is necessary to monitor the sampling status throughout the whole process to ensure that there are visual images in the whole process of sampling point selection, target point sampling, sample transfer, sample setting out, etc.; The sample status and sample packaging status should be confirmed. At the same time, it is also necessary to ensure that the sampling mechanism is transferred to the avoidance position to ensure that subsequent lunar take-off and other actions are not affected by interference. Therefore, it is a key link to ensure the success of the entire mission to ensure reliable data transmission throughout the lunar surface sampling mission, that is, to ensure the reliable communication of the spacecraft's data transmission antenna to the ground measurement and control station at a high code rate. Implemented at the specific implementation level, it is a high-gain data transmission antenna that can ensure that data transmission to the ground can be quickly and accurately pointed to the target station, thus ensuring that before sampling, during sampling, after sampling, and before take-off, the entire device-to-ground data transmission chain The road is reliable and uninterrupted, and the working state of the lunar surface is controllable.
然而，月面无人自主采样、地外天体无人自主采样任务通常存在器地通信时延较大的问题。同时，由于需要地面实时进行采样点状态确认，要求频繁器-地交互，以及考虑采样工作故障紧急应对策略实施的情况，采样过程中数据传输实时性要求非常高。However, the unmanned autonomous sampling of the lunar surface and the unmanned autonomous sampling of extraterrestrial celestial bodies usually have the problem of large communication delay between the vehicle and the ground. At the same time, due to the need to confirm the status of sampling points on the ground in real time, requiring frequent device-ground interaction, and considering the implementation of emergency response strategies for sampling work failures, the real-time data transmission requirements during the sampling process are very high.
传统的航天器在轨飞行实施对地数传通常根据目标测站相对航天器方位实时计算指向，对于月面探测任务，通常在航天器着陆后，在已知月面着陆位置及着陆姿态偏差的情况下，实时计算目标指向角度并驱动天线机构运动至目标角。这种方法受到航天器定位测量、着陆姿态确定等测量输入以及机构运动时间的时间影响较大、时效性差，难以满足月面采样工作程序紧凑的时序要求。此外，还有航天器任务采用上注星历的方法自主完成天线对目标测站的指向计算，这种方式要求航天器导航与控制系统具有较高自主控制能力，能够根据星历反演与地面目标测站的相对关系，同时要求将天线驱动机构引入闭环控制。由于天线指向为航天器自主控制实现，这种方法受上注星历精度和航天器控制中心计算精度影响较大，容易因天线未正确指向、未及时指向目标而导致数据传输中断，严重影响月面采样工作实施。The traditional spacecraft on-orbit flight implementation of data transmission to the ground usually calculates the pointing in real time according to the relative orientation of the target station relative to the spacecraft. For lunar exploration tasks, usually after the spacecraft has landed, the landing position on the lunar surface and the deviation of the landing attitude are known. In this case, the target pointing angle is calculated in real time and the antenna mechanism is driven to move to the target angle. This method is greatly affected by measurement inputs such as spacecraft positioning measurement, determination of landing attitude, and the time of movement of the mechanism, and has poor timeliness. In addition, there are spacecraft missions that use the method of adding ephemeris to autonomously complete the antenna pointing calculation to the target station. This method requires the spacecraft navigation and control system to have high autonomous control capabilities and be able to invert and communicate with the ground according to the ephemeris. The relative relationship between the target station and the antenna drive mechanism is required to be introduced into closed-loop control. Since the antenna pointing is realized by the autonomous control of the spacecraft, this method is greatly affected by the ephemeris accuracy and the calculation accuracy of the spacecraft control center. Surface sampling work was implemented.
发明内容SUMMARY OF THE INVENTION
有鉴于此，本发明提供了一种保证月面无人自动采样任务可靠数传的天线控制方法，能够保证快速指向时效性的“粗指向”，又能保证采样工作过程中高码速率精确指向的“精调整”，满足月面采样工作紧凑时序和天线高精度的控制要求。In view of this, the present invention provides an antenna control method for ensuring reliable data transmission of unmanned automatic sampling tasks on the lunar surface, which can ensure "coarse pointing" with fast pointing and timeliness, and can ensure accurate pointing with high code rate during the sampling process. "Fine adjustment" to meet the requirements of tight timing of lunar sampling work and high-precision control of the antenna.
为实现上述目的，本发明技术方案如下：For achieving the above object, the technical scheme of the present invention is as follows:
本发明的一种保证月面无人自动采样任务可靠数传的天线控制方法，包括如下步骤：An antenna control method for ensuring reliable data transmission of unmanned automatic sampling tasks on the lunar surface of the present invention comprises the following steps:
步骤1，根据月面采样航天器着陆后定位结果及任务需求，确定指向目标地Step 1: According to the positioning results and mission requirements of the lunar sampling spacecraft after landing, determine the target location.
面测控站；surface measurement and control station;
步骤2，根据月面无人自动采样任务预选着陆点的月面位置和着陆姿态偏差范围，确定天线双轴运动包络范围：方位轴为(αmin，αmax)，俯仰轴为(βmin，βmax)；Step 2: According to the lunar surface position and the landing attitude deviation range of the pre-selected landing site for the lunar surface unmanned automatic sampling task, determine the antenna biaxial motion envelope range: the azimuth axis is (α min , α max ), and the pitch axis is (β min ) , β max );
步骤3，根据天线双轴运动包络范围，采用“栅格划分”确定出几组用于实施“粗指向”的天线目标转角数据，生成“角度预选数据库”；Step 3, according to the antenna biaxial motion envelope range, use "grid division" to determine several groups of antenna target rotation angle data for implementing "coarse pointing", and generate an "angle pre-selection database";
步骤4，确认航天器着陆后，根据实际着陆时间、着陆初步定位以及姿态确定结果检索“角度预选数据库”，确定天线对目标测站粗指向预设置方位角和俯仰角；Step 4: After confirming the landing of the spacecraft, according to the actual landing time, the initial positioning of the landing and the attitude determination results, the "angle pre-selection database" is retrieved, and the preset azimuth and pitch angles are determined to be roughly pointed by the antenna to the target station;
步骤5，根据月面采样时序设计，确定天线对目标测站指向时机；Step 5, according to the design of the lunar surface sampling sequence, determine the timing when the antenna points to the target station;
步骤6，根据目标测站相对运动轨迹、航天器精确着陆定位结果以及着陆姿态确定结果，计算天线“精调整”根据目标测站相对运动轨迹和天线机构控制策略，确定在月面采样封装工作过程中，天线任意调整时机对应的天线指向的调整角度；Step 6: According to the relative motion trajectory of the target station, the accurate landing positioning results of the spacecraft, and the landing attitude determination results, calculate the "fine adjustment" of the antenna. According to the relative motion trajectory of the target station and the control strategy of the antenna mechanism, determine the working process of sampling and packaging on the lunar surface , the adjustment angle of the antenna pointing corresponding to the arbitrary adjustment timing of the antenna;
步骤7，地面通过月面采样过程的数据传输结果，确认是否实施天线指向角度调整，若需要则重复执行步骤5-步骤7，直至无需调整指向，若无需调整指向，则天线停转保持当前状态。Step 7: The ground uses the data transmission results of the lunar surface sampling process to confirm whether to implement the antenna pointing angle adjustment. If necessary, repeat steps 5 to 7 until the pointing adjustment is not required. If no pointing adjustment is required, the antenna will stop rotating and maintain the current state. .
其中，所述步骤2中，确定天线双轴运动包络范围的具体实现方法为：Wherein, in the step 2, the specific implementation method of determining the antenna biaxial motion envelope range is as follows:
步骤①，根据航天器飞行轨道，预报计算预选着陆点的范围；Step 1, according to the flight trajectory of the spacecraft, forecast and calculate the range of the pre-selected landing point;
步骤②，根据着陆区地形特性以及着陆姿态控制精度确定着陆姿态偏差范围；Step 2: Determine the landing attitude deviation range according to the terrain characteristics of the landing area and the landing attitude control accuracy;
③在综合考虑步骤①得到的着陆点散布和步骤②得到的着陆姿态偏范围的情况下，结合数传天线的安装及指向分别确定天线俯仰轴和方位轴向的运动包络范围。③ In the case of comprehensively considering the landing point distribution obtained in step ① and the offset range of landing attitude obtained in step ②, combined with the installation and pointing of the data transmission antenna, determine the motion envelope range of the antenna's pitch axis and azimuth axis respectively.
其中，所述步骤1中，确定指向目标地面测控站的具体方式为：Wherein, in the step 1, the specific method of determining the pointing to the target ground measurement and control station is:
根据航天器着陆位置及月面采样过程中的数据传输时间要求，确定执行数传数据接收的地面测控站。According to the landing position of the spacecraft and the data transmission time requirements during the sampling process of the lunar surface, the ground measurement and control station that performs data transmission data reception is determined.
其中，所述步骤3中，生成“角度预选数据库”的具体实现方法为：Wherein, in the step 3, the specific implementation method of generating the "angle pre-selection database" is:
步骤31，分别根据方位轴的运动角度范围(αmin，αmax)以及俯仰轴的运动角度范围(βmin，βmax)，划出机构可以运动的矩形区域；Step 31, according to the range of motion angles of the azimuth axis (α min , α max ) and the range of motion angles of the pitch axis (β min , β max ), respectively, draw out a rectangular area in which the mechanism can move;
步骤32，根据“粗指向”的精度要求，利用方位轴运动步长αstep和俯仰轴运动步长βstep将矩形区域划分成M×N的栅格，其中
步骤33，根据步骤31和步骤32划分出的栅格区域，生成“角度预选数据库”。Step 33, according to the grid areas divided in steps 31 and 32, generate an "angle pre-selection database".
其中，所述步骤6中，天线任意调整时机对应的天线指向的调整角度确定方式为：确定
其中，
有益效果beneficial effect
本发明能够保证快速指向时效性的“粗指向”，又能保证采样工作过程中高码速率精确指向的“精调整”的适用于月面无人自动采样任务天线控制方法，实施“粗指向”+“精调整”的目标指向控制方法，从而解决月面无人自动采样过程中，能够在有限时间内以最短时间、最优路径完成对天线指向，可靠保证月面采样任务实施，对于月面/地外天体表面无人自动采样这类时序紧凑、数据传输要求高的任务的工程实施具有非常重要的意义。The invention can ensure the "coarse pointing" of fast pointing and timeliness, and can also ensure the "fine adjustment" of accurate pointing at high code rate in the sampling work process. The antenna control method is suitable for unmanned automatic sampling tasks on the lunar surface, and implements "coarse pointing" + "Fine adjustment" target pointing control method, so as to solve the problem of unmanned automatic sampling on the lunar surface, the antenna can be pointed in the shortest time and the optimal path in a limited time, and the implementation of the lunar surface sampling task can be reliably guaranteed. The engineering implementation of tasks such as unmanned automatic sampling of the surface of extraterrestrial celestial bodies with compact timing and high data transmission requirements is of great significance.
附图说明Description of drawings
图1为本发明实施流程图。FIG. 1 is a flow chart of the implementation of the present invention.
图2为本发明月面采样任务数传天线双轴驱动机构示意图。FIG. 2 is a schematic diagram of the biaxial driving mechanism of the data transmission antenna for the lunar surface sampling task of the present invention.
图3为本发明月面采样任务天线运动范围及对地指向包络示意图。FIG. 3 is a schematic diagram of the antenna movement range and the ground pointing envelope of the lunar surface sampling task of the present invention.
图4为本发明月面采样任务天线对目标测站“粗指向”的“角度预选数据库”。Fig. 4 is the "angle preselection database" of the "coarse pointing" of the lunar surface sampling mission antenna to the target station.
图5为本发明月面采样任务天线对目标测站指向“精调整”控制策略示意图。FIG. 5 is a schematic diagram of the control strategy for "fine adjustment" of the pointing of the lunar surface sampling task antenna to the target station according to the present invention.
具体实施方式Detailed ways
下面结合附图并举实施例，对本发明进行详细描述。The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
由于月球表面环境复杂，月面无人自动采样任务需要在每次采样动作实施前，对采样目标区域地形地貌及月壤环境进行确认，在采样动作实施过程中，要对采样状态全程监控，采样完成后还要对月壤样品状态进行确认，对平台系统，特别是数据传输可靠性提出了极高要求。同时受到固定月面工作时间的刚性限制，要求极大程度优化利用有限的时间资源，能够保证数传天线可以快速指向目标并减少月面采样航天器与地面交互操作人工环节。Due to the complex environment on the lunar surface, the unmanned automatic sampling mission on the lunar surface needs to confirm the topography and lunar soil environment of the sampling target area before each sampling operation is carried out. After the completion, the status of the lunar soil samples must be confirmed, which puts forward extremely high requirements on the platform system, especially the reliability of data transmission. At the same time, due to the rigid limitation of the fixed lunar surface working time, it is required to optimize the utilization of limited time resources to the greatest extent, which can ensure that the data transmission antenna can quickly point to the target and reduce the manual links between the lunar sampling spacecraft and the ground interaction.
本发明提出了一种在月面无人自动采样任务中，基于月面采样工作时序设计要求及可靠数传任务要求，在确保高码速率数据传输的情况下，实现数传天线快速并精确指向目标的控制方法，基于预设角度“粗指向”+精确控制“精调整”确定月面采样工作数据传输天线指向目标，具体为：The invention proposes a method to realize fast and accurate pointing of the data transmission antenna under the condition of ensuring high code rate data transmission in the lunar surface unmanned automatic sampling task, based on the lunar surface sampling work sequence design requirements and the reliable data transmission task requirements. The control method of the target is based on the preset angle "coarse pointing" + precise control "fine adjustment" to determine the moon surface sampling work data transmission antenna pointing to the target, specifically:
首先根据预选着陆点月面位置和着陆姿态偏差阈值范围，确定天线指向包络范围，从而在月面采样航天器着陆月面前预先设置几组由于“粗指向”的天线目标转角数据，生成“角度预选数据库”；在航天器着陆月面后，根据实际着陆时间、着陆初步定位、姿态确定结果等信息快速检索“角度预选数据库”，选取目标指向角，实现月面采样工作实施前快速对地指向的要求。之后，再结合精确定位结果，并按照采样工作时序和目标测站相对运动结果，计算生成“精确调整”的天线指向角度和调整时机，即实施粗指向+精调整的目标指向控制方法，从而解决月面无人自动采样过程中，能够在有限时间内以最短时间、最优路径完成对天线指向，可靠保证月面采样任务实施。Firstly, according to the lunar surface position of the pre-selected landing site and the landing attitude deviation threshold range, the antenna pointing envelope range is determined, so that several sets of antenna target rotation angle data due to "coarse pointing" are preset before the lunar sampling spacecraft touches down on the moon to generate "angle" "Pre-selection database"; after the spacecraft lands on the lunar surface, quickly search the "angle pre-selection database" according to the actual landing time, initial positioning of the landing, attitude determination results and other information, select the target pointing angle, and realize the rapid pointing to the ground before the implementation of the lunar surface sampling work. requirements. After that, combined with the precise positioning results, and according to the sampling work sequence and the relative motion results of the target station, the antenna pointing angle and adjustment timing for "precise adjustment" are calculated and generated, that is, the target pointing control method of coarse pointing + fine adjustment is implemented, so as to solve the problem. In the process of unmanned automatic sampling on the lunar surface, the antenna can be pointed in the shortest time and the optimal path within a limited time, and the implementation of the lunar surface sampling task can be reliably guaranteed.
本发明实施流程图如图1所示，具体包括如下步骤：The implementation flowchart of the present invention is shown in Figure 1, which specifically includes the following steps:
步骤1，根据月面采样航天器着陆后定位结果及任务需求，确定指向目标地面测控站PTarget；Step 1, according to the positioning result and task requirement after the landing of the sampling spacecraft on the lunar surface, it is determined to point to the target ground measurement and control station P Target ;
具体的实施方法是根据航天器着陆位置及月面采样过程中的数据传输时间要求，确定执行数传数据接收的地面测控站；The specific implementation method is to determine the ground measurement and control station that performs data transmission data reception according to the landing position of the spacecraft and the data transmission time requirements in the lunar surface sampling process;
步骤2，根据月面无人自动采样任务预选着陆点的月面位置和着陆姿态偏差范围，确定天线双轴运动包络范围：方位轴为(αmin，αmax)，俯仰轴为(βmin，βmax)；Step 2: According to the lunar surface position and the landing attitude deviation range of the pre-selected landing site for the lunar surface unmanned automatic sampling task, determine the antenna biaxial motion envelope range: the azimuth axis is (α min , α max ), and the pitch axis is (β min ) , β max );
本发明月面采样任务数传天线双轴驱动机构示意图如图2所示，确定天线双轴运动包络范围的具体实现方法为：The schematic diagram of the dual-axis driving mechanism of the data transmission antenna for the lunar surface sampling task of the present invention is shown in FIG.
步骤①，根据航天器飞行轨道，预报计算预选着陆点的范围；Step 1, according to the flight trajectory of the spacecraft, forecast and calculate the range of the pre-selected landing point;
步骤②，根据着陆区地形特性、着陆姿态控制精度确定着陆姿态偏差范围，通常，定义标称着陆姿态为：航天器机械坐标系与月面着陆点为中心的地理坐标系(如天-东-北坐标系)重合，并由两个维度定义姿态偏差，即：一是着陆器绕其+X轴的旋转偏差；二是着陆器相对于当地水平面的倾斜偏差。嫦娥五号月球探测器月面着陆姿态偏差范围为：Step 2: Determine the landing attitude deviation range according to the terrain characteristics of the landing area and the landing attitude control accuracy. Usually, the nominal landing attitude is defined as: the mechanical coordinate system of the spacecraft and the geographic coordinate system centered on the landing point on the lunar surface (such as sky-east- The north coordinate system) coincides, and the attitude deviation is defined by two dimensions, namely: one is the rotation deviation of the lander around its +X axis; the other is the tilt deviation of the lander relative to the local horizontal plane. The deviation range of the landing attitude of the Chang'e-5 lunar probe on the lunar surface is:
A)着陆器绕其+X轴的旋转偏差总计：±15゜；A) Total rotation deviation of the lander around its +X axis: ±15゜;
B)着陆器YZ平面相对于当地水平面的倾斜偏差总计：≤±14゜。B) The total inclination deviation of the lander YZ plane relative to the local horizontal plane: ≤±14゜.
步骤③，在综合考虑步骤①得到的着陆点散布和步骤②得到的着陆姿态偏范围的情况下，结合数传天线的安装及指向分别确定天线俯仰轴和方位轴向的运动包络范围，如图3所示。Step ③, in the case of comprehensively considering the landing point dispersion obtained in step ① and the landing attitude deviation range obtained in step ②, combined with the installation and pointing of the data transmission antenna, determine the motion envelope range of the antenna's pitch axis and azimuth axis respectively, such as shown in Figure 3.
步骤3，根据天线双轴运动包络范围，采用“栅格划分”确定出几组用于实施“粗指向”的天线目标转角数据，生成“角度预选数据库”；Step 3, according to the antenna biaxial motion envelope range, use "grid division" to determine several groups of antenna target rotation angle data for implementing "coarse pointing", and generate an "angle pre-selection database";
具体实现方法为：The specific implementation method is:
步骤31，分别根据方位轴的运动角度范围(αmin，αmax)以及俯仰轴的运动角度范围(βmin，βmax)，划出机构可以运动的矩形区域；Step 31, according to the range of motion angles of the azimuth axis (α min , α max ) and the range of motion angles of the pitch axis (β min , β max ), respectively, draw out a rectangular area in which the mechanism can move;
步骤32，根据“粗指向”的精度要求，利用方位轴运动步长αstep和俯仰轴运动步长βstep将矩形区域划分成M×N的栅格，其中
步骤33，根据步骤31和步骤32划分出的栅格区域，生成“角度预选数据库”，如图4所示，天线方位轴运动范围为-8°～28°，天线俯仰轴运动范围为46°～84°，以2°为步长，则有：Step 33, according to the grid area divided in steps 31 and 32, generate an "angle pre-selection database", as shown in Figure 4, the movement range of the antenna azimuth axis is -8° to 28°, and the movement range of the antenna pitch axis is 46° ～84°, with 2° as a step, there are:
方位轴转动角度取点：逆时针8°→6°→4°→2°→零位→顺时针2°→4°→6°→8°→10°→12°→14°→16°→18°→20°→22°→24°→26°→28°，共19个点；Azimuth axis rotation angle point: counterclockwise 8°→6°→4°→2°→zero position→clockwise 2°→4°→6°→8°→10°→12°→14°→16°→ 18°→20°→22°→24°→26°→28°, a total of 19 points;
俯仰轴转动角度取点：顺时针46°→48°→50°→52°→54°→56°→58°→60°→62°→64°→66°→68°→70°→72°→74°→76°→78°→80°→82°→84°，共20个点。Pitch axis rotation angle: clockwise 46°→48°→50°→52°→54°→56°→58°→60°→62°→64°→66°→68°→70°→72° →74°→76°→78°→80°→82°→84°, a total of 20 points.
相应生成的角度预选数据库为数据量为19×20组角度组合结果，根据该结果，预先生成双轴驱动机构角度转动指令，完成指令校验，以备及时上注至航天器；The corresponding generated angle pre-selection database is the result of 19×20 sets of angle combinations. According to the result, the angle rotation command of the dual-axis drive mechanism is pre-generated, and the command verification is completed, so as to be injected into the spacecraft in time;
步骤4，确认航天器着陆后，根据实际着陆时间TL、着陆初步定位PL、姿态确定结果QL等信息快速检索“角度预选数据库”，确定天线对目标测站粗指向预设置角度(δ0，δ0)；Step 4: After confirming that the spacecraft has landed, according to the actual landing time TL , the initial landing positioning PL , the attitude determination result QL and other information, the "angle pre-selection database" is quickly searched, and the preset angle (δ 0 , δ 0 );
以着陆后计算出天线目标指向转角为方位轴13.5、俯仰轴55.2°为例，按照就进原则，从步骤3预先生成的指令数据中，选取(14°，56°)立即上注，完成第一步——月面采样实施前初始化阶段的天线对地快速“粗指向”工作；Take the antenna target pointing angle calculated after landing as the azimuth axis 13.5° and the pitch axis 55.2° as an example, according to the principle of going forward, select (14°, 56°) from the command data pre-generated in step 3 and place the bet immediately to complete the first step. One step - the rapid "coarse pointing" of the antenna to the ground in the initialization phase before the implementation of lunar surface sampling;
步骤5，根据月面采样时序设计，确定天线对目标测站指向时机
步骤6，根据目标测站相对运动轨迹、航天器精确着陆定位结果、着陆姿态确定结果，计算天线“精调整”根据目标测站相对运动轨迹和天线机构控制策略，确定在月面采样封装工作过程中，天线任意调整时机对应的天线指向的调整角度(δα，δβ)；Step 6: According to the relative movement trajectory of the target station, the accurate landing positioning results of the spacecraft, and the landing attitude determination results, calculate the "fine adjustment" of the antenna. According to the relative movement trajectory of the target station and the control strategy of the antenna mechanism, determine the working process of sampling and packaging on the lunar surface , the adjustment angle (δ α , δ β ) of the antenna pointing corresponding to the arbitrary adjustment timing of the antenna;
如在图5所示，钻取采样前需执行天线指向精调整，确定
步骤7，地面通过月面采样过程的数据传输结果，确认是否实施天线指向角度调整，若需要则重复执行步骤5-步骤7，直至无需调整指向，若无需调整指向，则天线停转保持当前状态。Step 7: The ground uses the data transmission results of the lunar surface sampling process to confirm whether to implement the antenna pointing angle adjustment. If necessary, repeat steps 5 to 7 until the pointing adjustment is not required. If no pointing adjustment is required, the antenna will stop rotating and maintain the current state. .
综上所述，以上仅为本发明的较佳实施例而已，并非用于限定本发明的保护范围。凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。To sum up, the above are only preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.
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