CN113488762B - Antenna switching method for inter-satellite networking - Google Patents
Antenna switching method for inter-satellite networking Download PDFInfo
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- CN113488762B CN113488762B CN202110790826.2A CN202110790826A CN113488762B CN 113488762 B CN113488762 B CN 113488762B CN 202110790826 A CN202110790826 A CN 202110790826A CN 113488762 B CN113488762 B CN 113488762B
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/27—Adaptation for use in or on movable bodies
- H01Q1/28—Adaptation for use in or on aircraft, missiles, satellites, or balloons
- H01Q1/288—Satellite antennas
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q21/00—Antenna arrays or systems
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
- H01Q3/24—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system varying the orientation by switching energy from one active radiating element to another, e.g. for beam switching
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- 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
- H04B7/18521—Systems of inter linked satellites, i.e. inter satellite service
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Abstract
The invention discloses an antenna switching method for an inter-satellite networking, which is characterized in that when an included angle between any antenna in a closed state and a direction vector of an opposite satellite is smaller than or equal to a preset value within a continuous specified time, the antenna is opened, and the currently opened antenna is closed.
Description
Technical Field
The invention relates to the technical field of aerospace, in particular to an antenna switching method for inter-satellite networking.
Background
In-orbit networking of satellites is a development trend of space-based systems, which is the key to the performance of the space-based systems. To implement on-orbit networking of satellites, reliable inter-satellite communication links need to be formed. The inter-satellite communication link is used for communication among satellites, and can interconnect a plurality of satellites together to realize information transmission and exchange among the satellites. Due to the introduction of the inter-satellite communication link, the satellite communication system can depend on a ground network less, so that the satellite communication system can perform routing and network management more flexibly, and transmission delay is reduced.
Since the attitude of the satellite changes constantly during the orbit, the beam pointing direction of the antenna on the satellite changes, which causes the communication link formed between the single antenna and the opposite satellite to be interrupted. To solve this problem, at present, one way is to install multiple sets of antennas on the satellite, and the beam directions of the antennas are complementary to each other, so as to ensure that the satellite has an antenna capable of establishing a communication link with the opposite satellite at any time and in any attitude. How to control the switching among the antennas becomes the key to ensure the continuity of the inter-satellite communication.
Disclosure of Invention
In order to ensure the continuity of the inter-satellite communication, the invention provides an antenna switching method of an inter-satellite networking, which comprises the following steps:
and if any antenna in the closed state has an included angle with the direction vector of the opposite satellite within the continuous specified time length and is less than or equal to a preset value, the antenna is opened, and the currently opened antenna is closed.
Further, the specified time period is 3 seconds.
Further, the preset value is 45 °.
Further, the direction vector included angle with the opposite satellite is calculated according to the received orbit position information of the opposite satellite.
Further, the antenna switching method further includes:
and if the inter-satellite communication link interruption time exceeds a threshold value, restarting searching and establishing the link.
Further, the threshold value is 1 minute.
Further, the searching and linking comprises:
sequentially starting all antennas on the satellite, and keeping a second specified time length to search for signals of the satellite, wherein when any antenna is in an open state, the other antennas are all closed; and
after the opposite satellite signal is searched, a communication link is established.
Further, the second specified time period is 15 seconds.
According to the antenna switching method for the inter-satellite networking, the antennas are switched on and off according to the direction between the antennas and the opposite satellite, so that the switching of the antennas is realized, and the continuity of an inter-satellite communication link is effectively ensured.
Drawings
To further clarify the above and other advantages and features of embodiments of the present invention, a more particular description of embodiments of the present invention will be rendered by reference to the appended drawings. It is appreciated that these drawings depict only typical embodiments of the invention and are therefore not to be considered limiting of its scope. In the drawings, the same or corresponding parts will be denoted by the same or similar reference numerals for clarity.
Fig. 1 is a flowchart illustrating an antenna switching method for inter-satellite networking according to an embodiment of the present invention; and
figures 2a-2b show schematic diagrams of antenna beams on a satellite according to one embodiment of the invention.
Detailed Description
In the following description, the present invention is described with reference to examples. One skilled in the relevant art will recognize, however, that the embodiments can be practiced without one or more of the specific details, or with other alternative and/or additional methods.
In the present invention, the embodiments are only intended to illustrate the aspects of the present invention, and should not be construed as limiting.
In the present invention, the terms "a" and "an" do not exclude the presence of a plurality of elements, unless otherwise specified.
Reference in the specification to "one embodiment" or "the embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the invention. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment.
It is also to be noted here that, within the scope of the present invention, the expressions "identical", "equal" and the like do not mean that the two values are absolutely equal, but allow a certain reasonable error, that is, the expressions also cover "substantially identical", "substantially equal".
Reliable inter-satellite communication links are the key to implementing on-orbit networking of satellites. The switching strategy of the satellite communication antenna is reasonably designed, the inter-satellite communication can be realized by the antenna at any time, and the continuity of the inter-satellite communication can be ensured. Based on the above, the invention provides an antenna switching method for inter-satellite networking, which determines the turning on and off of an antenna according to the relative direction between the antenna and an opposite satellite. The solution of the invention is further described below with reference to the accompanying drawings of embodiments.
Fig. 1 is a flowchart illustrating an antenna switching method for inter-satellite networking according to an embodiment of the present invention. As shown in fig. 1, an antenna switching method for inter-satellite networking includes:
real-time calculation of direction vector included angle psi between each antenna i and each other satellite on satellite i (ii) a In one embodiment of the invention, the angle Ψ to the direction vector of the opposite satellite i The calculation is carried out according to the received orbit position information of the opposite satellite, and the specific calculation is as follows:
wherein, the first and the second end of the pipe are connected with each other,
V i_J2000 is axial to the antenna iThe direction vector in the J2000 coordinate system,
wherein, A bi Is a J2000 system to body system attitude transformation matrix, and V i_body The axial system vector of the antenna i is a known quantity; and
V df_J2000 is a direction vector, V, of the opposite satellite relative to the satellite in the J2000 coordinate system df_J2000 ＝R df_J2000 -R wx_J2000 Wherein:
R df_J2000 ＝(R df_J2000_x ，R df_J2000_y ，R df_J2000_z ) T in one embodiment of the present invention, the orbit position of the opponent satellite in the J2000 coordinate system at the current moment is determined by using the mature J orbit information of the opponent satellite according to the opponent satellite orbit information recently and sequentially received by the satellite 2 Calculating by a model orbit extrapolation algorithm; and
R wx_J2000 ＝(R wx_J2000_x ，R wx_J2000_y ，R wx_J2000_z ) T the orbit position of the satellite at the current moment under a J2000 coordinate system; and
calculating the included angle psi of the direction vectors i And (3) comparing with a preset value:
and if any antenna L in the closed state has an included angle with the direction vector of the opposite satellite within the continuous specified time length and is smaller than or equal to a preset value, the antenna L is opened, and the currently opened antenna is closed. In one embodiment of the invention, the specified time period is 3 seconds, and/or the preset value is 45 °. At this point, the antenna switching is completed once, and the process is repeated continuously during the satellite in-orbit period. It should be understood that, in other embodiments of the present invention, the specified time duration and/or the preset value of different values may also be set according to requirements.
In order to quickly reestablish the communication link after the inter-satellite link is interrupted, in an embodiment of the present invention, if the inter-satellite communication link interruption event exceeds a threshold, the search for establishing the link is restarted, where the threshold may be, for example, 1 minute or set to another value as needed. Wherein the searching and establishing the link comprises:
sequentially starting each antenna on the satellite, and keeping a second designated time length to search for signals of the satellite, wherein when any antenna is in an open state, the other antennas are all closed, wherein the second designated time length can be 15 seconds, or set as other values according to requirements; and
after the opposite satellite signal is searched, a communication link is established.
The antenna switching method for the inter-satellite networking is particularly suitable for switching the communication antennas between member satellites and central node satellites in a satellite cluster with the same orbital plane, wherein the inter-satellite distance between the member satellites and the central node satellites is not more than 1500km. To better explain the antenna switching method, a specific process of using the antenna switching method between a member satellite and a central node satellite in a satellite cluster of the same orbital plane is described in detail below.
The member satellite runs on a sun synchronous orbit, the orbit height is 500km, and 12 points are needed when the intersection point is descended. The member stars adopt a windsurfing board to orient the sun during the non-mission period to supplement energy, and switch to the flying ground for observation during the mission period. To orient the coordinate system O to the sun c -X sun Y sun Z sun As the system, wherein the center of mass of the member star is used as the origin O c Z axis O c Z sun Parallel to the vector of the member star pointing towards the sun, but opposite to it, the X-axis O c X sun Multiplying O by + Y-axis cross of orbit coordinate system (VVLH coordinate system) c Z sun Obtained, and Y-axis O c Y sun Determined according to the right hand rule. Wherein the orbit coordinate system takes the centroid of the member star as an origin, the Z-axis is directed to the earth center by the member star, the Y-axis is directed to the negative normal direction of the orbit plane, and the X-axis is determined by the right-hand rule, and generally, for a circular orbit, the X-axis direction is directed to the flight direction. Based on the systemThe member star is flying to the ground so that the attitude is: + Z points to the center of the earth and + X points to the direction of flight.
4 pairs of inter-satellite communication antennas are mounted on the member satellite and are respectively mounted in the +/-X and +/-Z directions of the member satellite, and the beam half-cone angle of each antenna is 46 degrees. Fig. 2a-2b show schematic diagrams of the member on-board antenna beams. As shown, the axially corresponding main system direction vectors of the four antennas are as follows:
+ X antenna: axially along the + X direction of the member star body, the unit direction vector in the system is V txXpos_body ＝(1，0，0) T ；
-an X antenna: axially along said member star body-X direction, with a unit direction vector in the system of V tx_Xneg_body ＝(-1，0，0) T ；
+ Z antenna: the unit direction vector in the system is V along the + Z direction of the member star body tx_Zpos_body ＝(0，0，1) T (ii) a And
-a Z antenna: axially along the member star body-Z direction, the unit direction vector in the system is V tx_zneg_body ＝(0，0，-1) T 。
The inter-satellite communication antenna of the member satellite has two states: firstly, the +/-X antenna is turned on, and the +/-Z antenna is turned off; second, the + -X antenna is closed, and the + -Z antenna is opened.
The member satellites need to communicate with a central node satellite, the central node satellite is located at a distance of about 1000km in front of the member satellites and continuously broadcasts real-time track position and speed information of the member satellites under a ground fixed system, and the broadcasting period is better than 1 minute. In one embodiment of the present invention, the member star may periodically receive the track position and speed information with time stamp broadcast by the central node star, wherein the information format of the track position is shown in table 1.
TABLE 1
Based on this, the switching method of the antenna of the inter-satellite networking provided by the invention comprises the following steps:
firstly, the member star searches and establishes a link for the broadcast signal of the central node star. Sequentially switching four antennas + X, + Z, -X and-Z of the member star, switching once every 15s, searching a central node star signal, and establishing a communication link after the signal is searched;
next, the member star calculates the direction vector included angles between the + X antenna, -X antenna, + Z antenna, and-Z antenna of the member star and the central node star at the current time, which are respectively: Ψ tx_Xpos 、Ψ tx_Xneg 、Ψ tx_Zpos And Ψ tx_zneg The specific calculation method is as follows:
first, the central node satellite orbit extrapolates. After the member star receives the track position and speed information with the timestamp broadcast by the central node star, the member star takes the recently received central node star track as a starting point and utilizes mature J 2 Model orbit extrapolation algorithm for calculating current time T * Track position R of the central node star under the J2000 coordinate system ZS_J2000 ：
R ZS_J2000 ＝(R zS_J2000_x ，R ZS_J2000_y ，R ZS_J2000_z )；
Next, the direction of the central node star is determined. Knowing the orbit position R of the member satellite itself in the J2000 coordinate system at the current moment GP_J2000 ：
R GP_J2000 ＝(R GP_J2000_x ，R GP_J2000_y ，R GP_J2000_z ) T ，
Then, the direction vector of the central node star relative to the member star at the current time under the J2000 coordinate system
The amount was calculated as follows:
and finally, calculating the included angle between the star direction of the central node and each antenna. J2000 system attitude transformation matrix A to the body system bi Is a known quantity, and the vectors of the + X, -X, + Z and-Z antenna in the axial direction of the system are respectively V tx_Xpos_body 、V tx_Xneg_body 、V tx_Zpos_body And V tx_Zneg_body Then, the direction vectors of the + X, -X, + Z, -Z antenna axial directions in the J2000 coordinate system are respectively:
then, the vector included angles between the + X, -X, + Z, -Z antenna axial direction and the central node star direction are calculated as follows:
and finally, determining antenna switching logic according to the calculated direction vector included angles between the + X antenna, the-X antenna, the + Z antenna and the-Z antenna and the central node star, wherein the specific steps are as follows:
if the current + -Z antenna is turned on, min (psi) is set within 3 seconds tx_Xpos ，Ψ tx_Xneg ) When the angle is less than or equal to 45 degrees, cutting to the +/-X antenna, namely opening the +/-X antenna, closing the +/-Z antenna at the same time, and keeping the +/-Z antenna open under other conditions; and
if the current + -X antenna is turned on, min (psi) is set within 3 seconds tx_Zpos ，Ψ tx_Zneg ) And (4) cutting to the +/-Z antenna when the angle is less than or equal to 45 degrees, namely, opening the +/-Z antenna, closing the +/-X antenna at the same time, and keeping the +/-X antenna open under other conditions.
In addition, once the inter-satellite communication link interruption time exceeds 1 minute, the searching and link establishment process is restarted according to the steps, namely the four antennas + X, + Z, -X and Z of the member satellite are switched in sequence, the switching is carried out once every 15s, the satellite signal of the central node is searched, and after the signal is searched, the communication link is established.
According to the antenna switching method for the inter-satellite networking, the antennas are switched on and off according to the direction between the antennas and the opposite satellite, so that the switching of the antennas is realized, and the continuity of an inter-satellite communication link is effectively ensured.
While various embodiments of the present invention have been described above, it should be understood that they have been presented by way of example only, and not limitation. It will be apparent to persons skilled in the relevant art that various combinations, modifications, and changes can be made thereto without departing from the spirit and scope of the invention. Thus, the breadth and scope of the present invention disclosed herein should not be limited by any of the above-described exemplary embodiments, but should be defined only in accordance with the following claims and their equivalents.
Claims (7)
1. An antenna switching method for an inter-satellite networking is used for switching communication antennas between member satellites and a central node satellite in a same orbit plane satellite cluster, wherein each member satellite comprises two inter-satellite communication antennas which are respectively installed in +/-X and +/-Z directions of a satellite body, a half cone angle of a wave beam is 46 degrees, the central node satellite is positioned at a distance of 1000km in front of the member satellites and continuously broadcasts real-time orbit position and speed information of the central node satellite under the ground fixed system, and the antenna switching method comprises the following steps:
if the antenna which is currently opened on the satellite is an antenna in the +/-X direction, if the included angle between the antenna in the +/-Z direction and the direction vector of the opposite satellite is less than or equal to 45 degrees in the continuous specified duration, the antenna in the +/-Z direction is opened, the antenna in the +/-X direction is closed, and if not, the antenna in the +/-X direction is kept opened; and
if the antenna which is currently opened on the satellite is the +/-Z-direction antenna, if the included angle between the +/-X-direction antenna and the direction vector of the opposite satellite is less than or equal to 45 degrees in the continuous specified duration, the +/-X-direction antenna is opened, the +/-Z-direction antenna is closed, and otherwise, the +/-Z-direction antenna is kept opened.
2. The antenna switching method of claim 1, wherein the specified duration is 3 seconds.
3. The antenna switching method according to claim 1, wherein the angle Ψ between the direction vectors of the opposing satellites i Calculating according to the received orbit position information of the opposite satellite to obtain:
wherein, the first and the second end of the pipe are connected with each other,
V i_J2000 is the direction vector of the axial direction of the antenna i in the J2000 coordinate system,
wherein A is bi Is a J2000 system to body system attitude transformation matrix, and V i_body The axial system vector of the antenna i is a known quantity; and
V df_J2000 for opposite satellite relative satellite in J2000Direction vector in coordinate system, V df_J2000 ＝R df_J2000 -R wx_J2000 Wherein:
R df_J2000 ＝(R df_J2000_x ,R df_J2000_y ,R df_J2000_z ) T the orbit position of the opponent satellite in the J2000 coordinate system at the current moment; and
R wx_J2000 ＝(R wx_J2000_x ,R wx_J2000_y ,R wx_J2000_z ) T and the orbit position of the satellite in the J2000 coordinate system at the current moment.
4. The antenna switching method of claim 1, wherein the antenna switching method further comprises:
and if the inter-satellite communication link interruption time exceeds a threshold value, restarting searching and building the link.
5. The antenna switching method according to claim 4, wherein the threshold value is 1 minute.
6. The antenna switching method of claim 4, wherein the searching for the set-up chain comprises:
sequentially starting all antennas on the satellite, and keeping a second specified time length to search for signals of the satellite, wherein when any antenna is in an open state, the other antennas are all closed; and
after the opposite satellite signal is searched, a communication link is established.
7. The antenna switching method of claim 6, wherein the second specified duration is 15 seconds.
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Effective date of registration: 20230331 Address after: 201304 No.1 Xueyang Road, Pudong New Area, Shanghai Patentee after: SHANGHAI ENGINEERING CENTER FOR MICROSATELLITES Address before: 201203 No. 99 Haike Road, Pudong New Area, Shanghai Patentee before: Institute of microsatellite innovation, Chinese Academy of Sciences Patentee before: SHANGHAI ENGINEERING CENTER FOR MICROSATELLITES |
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Effective date of registration: 20230808 Address after: 201306 building C, No. 888, Huanhu West 2nd Road, Lingang New District, China (Shanghai) pilot Free Trade Zone, Pudong New Area, Shanghai Patentee after: Shanghai Zhongkechen New Satellite Technology Co.,Ltd. Address before: 201304 No.1 Xueyang Road, Pudong New Area, Shanghai Patentee before: SHANGHAI ENGINEERING CENTER FOR MICROSATELLITES |