CN114879228A

CN114879228A - Method and system for simulating satellite transit by unmanned aerial vehicle

Info

Publication number: CN114879228A
Application number: CN202210493570.3A
Authority: CN
Inventors: 刘世勇; 赵磊; 董玮
Original assignee: Emposat Co Ltd
Current assignee: Emposat Co Ltd
Priority date: 2021-12-31
Filing date: 2022-05-07
Publication date: 2022-08-09

Abstract

The invention provides a method and a system for simulating satellite transit by an unmanned aerial vehicle, and relates to the technical field of simulated satellites. The method comprises the following steps: and calculating the azimuth angle and the pitch angle of the satellite to be simulated relative to the position of the ground measurement and control station at each time point according to the preset sampling step length. And calculating the slant distance of the unmanned aerial vehicle from the ground measurement and control station according to the azimuth angle and the pitch angle of the satellite to be simulated relative to the ground measurement and control station at each time point during the transit period of the satellite to be simulated. And calculating the relative coordinates of the unmanned aerial vehicle at each position point. And generating longitude, latitude and altitude data of the unmanned aerial vehicle waypoint according to the relative coordinates of the unmanned aerial vehicle and longitude, latitude and altitude data of the ground measurement and control station, and injecting the longitude, latitude and altitude data into the unmanned aerial vehicle. And the ground measurement and control station generates a tracking plan, responds to user operation and controls the unmanned aerial vehicle waypoints and the task load so as to simulate the satellite to be simulated in a normal state and an emergency state. The user can adjust the waypoints and the task load according to the satellite operation task to meet the training requirement, so that the training resources are obviously increased.

Description

Method and system for simulating satellite transit by unmanned aerial vehicle

Technical Field

The invention relates to the technical field of simulated satellites, in particular to a method and a system for simulating satellite transit by an unmanned aerial vehicle.

Background

In the space mission, the ground measurement and control station is an infrastructure for ensuring the normal on-orbit operation, the heaven-earth communication and the application data downloading of the spacecraft. The skilled operation and control of the ground measurement and control station are also necessary skills of ground operators. The traditional ground operator operation training mode is that in the process of normally tracking the orbiting satellite by a ground measurement and control station, the skill is mastered by observing and simulating an operator skilled in operation. Although the traditional training mode does not need special training equipment, the traditional training mode depends on satellites which actually run in orbit, not only is the resources limited, but also the risk cost is high when the satellites are trained by adopting the actual in-orbit resources, the requirement on training qualification is high, and the training audience range is limited.

Because the traditional training mode is limited by actual satellite resources, the training period is long, the training content is limited, and the training resources are difficult to match with wider requirements, such as scientific research posts beyond formal operation posts of space missions.

Disclosure of Invention

The invention aims to provide a method and a system for simulating satellite transit by an unmanned aerial vehicle, which are used for solving the problems that in the prior art, the training period is long and the training content is limited due to the limitation of actual satellite resources because the unmanned aerial vehicle depends on the actual satellite which runs in an orbit.

The embodiment of the invention is realized by the following steps:

in a first aspect, the present applicationThe embodiment provides a method for simulating satellite transit by an unmanned aerial vehicle, which comprises the following steps: and acquiring orbit data of the satellite to be simulated, and establishing a satellite orbit according to the orbit data. And acquiring coordinate data of the ground measurement and control station, and setting the position of the ground measurement and control station according to the coordinate data of the ground measurement and control station, wherein the coordinate data of the ground measurement and control station comprises longitude, latitude and height data of the ground measurement and control station. And setting a starting time T0 in response to the user operation, and calculating an azimuth angle A and a pitch angle E of the satellite to be simulated relative to the position of the ground measurement and control station at each time point according to the starting time T0 and the satellite orbit and a preset sampling step length. And acquiring the lowest elevation angle limiting parameter of the ground measurement and control station, and if the elevation angle E is greater than the lowest elevation angle limiting parameter, considering that the satellite to be simulated passes through the border and acquiring all time points during the satellite to be simulated passing through the border. Setting the flying height of the unmanned aerial vehicle as the height h, acquiring the position point of a connecting line between the ground measurement and control station and the satellite to be simulated at the height h according to the azimuth angle A and the pitch angle E of the satellite to be simulated relative to the ground measurement and control station at each time point during the transit period of the satellite to be simulated, and utilizing a formula

And calculating the slant distance r of the unmanned aerial vehicle from the ground measurement and control station. And calculating the relative coordinates of the unmanned aerial vehicle at each position point according to the slope distance r, the azimuth angle A and the pitch angle E of each time point. And generating longitude, latitude and altitude data of the waypoints of the unmanned aerial vehicle at each time point according to the relative coordinates of the unmanned aerial vehicle at each position point and longitude, latitude and altitude data of the ground measurement and control station, injecting the longitude, latitude and altitude data of the waypoints of the unmanned aerial vehicle at each time point into the unmanned aerial vehicle, taking off the unmanned aerial vehicle at the starting point time T0, and flying according to the longitude, latitude and altitude data of the waypoints. The ground measurement and control station generates a tracking plan according to the satellite orbit so as to track and control the unmanned aerial vehicle within a preset time, respond to user operation and control the waypoints and the task load of the unmanned aerial vehicle, and simulate the satellite to be simulated in a normal state and an emergency state.

In some embodiments of the present invention, the step of calculating the azimuth angle a and the pitch angle E of the satellite to be simulated at each time point relative to the position of the ground measurement and control station according to the start time T0 and the satellite orbit and the preset sampling step includes: according to the satellite orbit, after the starting time T0 is calculated according to the preset sampling step length, the Cartesian coordinate, namely the first coordinate, of the connecting line position vector of the satellite to be simulated and the geocentric in the geocentric inertial system is obtained. And according to the coordinate data of the ground measurement and control station, calculating a Cartesian coordinate, namely a second coordinate, of a position vector of a connecting line between the ground measurement and control station and the geocentric in the geocentric inertial system. And subtracting the second coordinate from the first coordinate to obtain a Cartesian coordinate, namely a third coordinate, of the position vector of the satellite to be simulated relative to the ground measurement and control station in the geocentric inertial system. And according to the coordinate conversion matrix, converting the third coordinate into a Cartesian coordinate, namely a fourth coordinate, of the position vector of the satellite to be simulated relative to the ground measurement and control station in the coordinate system of the ground measurement and control station. And (4) setting the fourth coordinate as (X, Y, Z), and calculating the azimuth angle A and the pitch angle E of the satellite to be simulated at each time point relative to the position of the ground measurement and control station according to the (X, Y, Z).

In some embodiments of the present invention, the step of calculating the azimuth angle a and the pitch angle E of the satellite to be simulated at each time point relative to the position of the ground measurement and control station according to (X, Y, Z) includes: according to (X, Y, Z), using the formula

Calculating the azimuth A by using the formula

And calculating a pitch angle E.

In some embodiments of the present invention, the step of acquiring orbit data of a satellite to be simulated and establishing a satellite orbit according to the orbit data includes: the method comprises the steps of obtaining the orbit number and relevant mechanical parameters of a satellite to be simulated, and determining the satellite orbit according to the orbit number and the relevant mechanical parameters.

In some embodiments of the present invention, before the step of obtaining the lowest elevation limit parameter of the ground measurement and control station, the method further includes: and acquiring the use technical requirements of the ground measurement and control station, and setting the minimum elevation angle limiting parameter according to the use technical requirements.

In some embodiments of the present invention, the step of calculating the relative coordinates of the drone at each location point according to the slope distance r, the azimuth angle a, and the pitch angle E at each time point includes: the relative coordinates (x, y, z) of the drone at each location point are calculated using the formulas x ═ r · cos (e) cos (a), y ═ r · cos (e) sin (a), and z ═ h.

In a second aspect, an embodiment of the present application provides a system for simulating satellite transit by an unmanned aerial vehicle, which includes: and the to-be-simulated satellite acquisition module is used for acquiring orbit data of the to-be-simulated satellite and establishing a satellite orbit according to the orbit data. And the ground measurement and control station coordinate acquisition module is used for acquiring coordinate data of the ground measurement and control station and setting the position of the ground measurement and control station according to the coordinate data of the ground measurement and control station, and the coordinate data of the ground measurement and control station comprises longitude, latitude and height data of the ground measurement and control station. And the satellite orientation calculation module to be simulated is used for setting a starting time T0 in response to user operation, and calculating an azimuth angle A and a pitch angle E of the satellite to be simulated relative to the position of the ground measurement and control station at each time point according to the starting time T0 and the satellite orbit and a preset sampling step length. And the satellite transit judging module is used for acquiring the lowest elevation limiting parameter of the ground measurement and control station, considering that the satellite to be simulated transits if the pitch angle E is greater than the lowest elevation limiting parameter, and acquiring all time points during the transit of the satellite to be simulated. The system comprises an inclination distance calculation module, a ground measurement and control station and a simulation satellite, wherein the inclination distance calculation module is used for setting the flying height of the unmanned aerial vehicle as the height h, acquiring the position point of a connecting line between the ground measurement and control station and the to-be-simulated satellite at the height h according to the azimuth angle A and the pitch angle E of the to-be-simulated satellite relative to the ground measurement and control station at each time point during the transit period of the to-be-simulated satellite, and utilizing a formula

And calculating the slant distance r of the unmanned aerial vehicle from the ground measurement and control station. And the unmanned aerial vehicle relative coordinate calculation module is used for calculating the relative coordinate of the unmanned aerial vehicle at each position point according to the slope distance r, the azimuth angle A and the pitch angle E of each time point. The route point data obtaining module is used for generating longitude and latitude of route points of the unmanned aerial vehicle at each time point according to the relative coordinates of the unmanned aerial vehicle at each position point and longitude, latitude and height data of the ground measurement and control stationAnd degree and altitude data, and injecting longitude, latitude and altitude data of the waypoint of the unmanned aerial vehicle into the unmanned aerial vehicle at each time point, taking off the unmanned aerial vehicle at the starting time T0, and flying according to the longitude, latitude and altitude data of the waypoint. And the satellite state simulation module is used for generating a tracking plan according to the satellite orbit by the ground measurement and control station so as to track and control the unmanned aerial vehicle within a preset time, respond to the user operation and control the waypoint and the task load of the unmanned aerial vehicle, and simulate the satellite to be simulated in a normal state and an emergency state.

In some embodiments of the present invention, the module for calculating a satellite position to be simulated includes: and the first coordinate calculation unit is used for calculating a Cartesian coordinate, namely a first coordinate, of a connecting line position vector of the satellite to be simulated and the geocentric in the geocentric inertial system after the starting time T0 according to the satellite orbit and the preset sampling step length. And the second coordinate calculation unit is used for calculating a Cartesian coordinate, namely a second coordinate, of a connecting line position vector of the ground measurement and control station and the geocentric in the geocentric inertial system according to the coordinate data of the ground measurement and control station. And the third coordinate calculation unit is used for subtracting the second coordinate from the first coordinate to obtain a Cartesian coordinate, namely a third coordinate, of the position vector of the satellite to be simulated relative to the ground measurement and control station in the geocentric inertial system. And the fourth coordinate calculation unit is used for calculating a coordinate conversion matrix from the geocentric inertia system to the ground measurement and control station coordinate system according to the coordinate data of the ground measurement and control station, and converting the third coordinate into a Cartesian coordinate, namely a fourth coordinate, of the position vector of the satellite to be simulated relative to the ground measurement and control station in the ground measurement and control station coordinate system according to the coordinate conversion matrix. And the azimuth angle calculation unit is used for setting the fourth coordinate as (X, Y, Z) and calculating the azimuth angle A and the pitch angle E of the satellite to be simulated at each time point relative to the position of the ground measurement and control station according to the (X, Y, Z).

In some embodiments of the present invention, the azimuth calculation unit includes: a formula calculation subunit for using the formula according to (X, Y, Z)

Calculating the azimuth A by using the formula

And calculating a pitch angle E.

In some embodiments of the present invention, the above-mentioned to-be-simulated satellite acquisition module includes: and the satellite orbit determination unit is used for acquiring the orbit number and the related mechanical parameters of the satellite to be simulated and determining the satellite orbit according to the orbit number and the related mechanical parameters.

In some embodiments of the present invention, the above system for unmanned aerial vehicle simulation of satellite transit further comprises: and the minimum elevation angle limiting parameter setting module is used for acquiring the use technical requirements of the ground measurement and control station and setting the minimum elevation angle limiting parameter according to the use technical requirements.

In some embodiments of the present invention, the relative coordinate calculation module of the drone includes: and an equation calculation unit for calculating the relative coordinates (x, y, z) of the unmanned aerial vehicle at each position point by using equations x ═ r · cos (e) cos (a), y ═ r · cos (e) sin (a), and z ═ h.

In a third aspect, an embodiment of the present application provides an electronic device, which includes a memory for storing one or more programs; a processor. The program or programs, when executed by a processor, implement the method of any of the first aspects as described above.

In a fourth aspect, embodiments of the present application provide a computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, implements the method according to any one of the first aspect described above.

Compared with the prior art, the embodiment of the invention has at least the following advantages or beneficial effects:

the invention provides a method and a system for simulating satellite transit by an unmanned aerial vehicle, which comprises the following steps: and acquiring orbit data of the satellite to be simulated, and establishing a satellite orbit according to the orbit data. And acquiring coordinate data of the ground measurement and control station, and setting the position of the ground measurement and control station according to the coordinate data of the ground measurement and control station, wherein the coordinate data of the ground measurement and control station comprises longitude, latitude and height data of the ground measurement and control station. Setting a starting time T0 in response to user operation, and calculating the satellite to be simulated at each time point according to the starting time T0 and the satellite orbit and preset sampling step lengthThe azimuth angle A and the pitch angle E of the star relative to the position of the ground measurement and control station. And acquiring the lowest elevation angle limiting parameter of the ground measurement and control station, and if the elevation angle E is greater than the lowest elevation angle limiting parameter, considering that the satellite to be simulated passes through the border and acquiring all time points during the satellite to be simulated passing through the border. Setting the flying height of the unmanned aerial vehicle as the height h, acquiring the position point of a connecting line between the ground measurement and control station and the satellite to be simulated at the height h according to the azimuth angle A and the pitch angle E of the satellite to be simulated relative to the ground measurement and control station at each time point during the transit period of the satellite to be simulated, and utilizing a formula

The method and the system firstly calculate the azimuth angle A and the pitch angle E of the satellite to be simulated relative to the position of the ground measurement and control station at each time point after the starting time T0 according to the satellite orbit and the preset sampling step length, and then judge whether the satellite to be simulated crosses the border or not by comparing the pitch angle E with the lowest elevation angle limiting parameter. And acquiring all time points in the transit period of the satellite to be simulated, which correspond to all time points. For each time point unmanned aerial vehicle, the position point of the connecting line of the ground measurement and control station and the satellite to be simulated at the corresponding time point at the height h is the position of the unmanned aerial vehicle corresponding to each time point, and a formula is utilized

And calculating the slant distance r of the unmanned aerial vehicle from the ground measurement and control station. And then, according to the slope distance, the azimuth angle A and the pitch angle E of each time point, the relative coordinates of the unmanned aerial vehicle at each position point can be calculated. And then, according to the relative coordinates of the unmanned aerial vehicle at each position point and longitude, latitude and altitude data of the ground measurement and control station, the longitude, latitude and altitude data of the unmanned aerial vehicle at each time point, namely, waypoint data, are obtained, all the waypoint data during the transit period of the satellite are injected into the unmanned aerial vehicle, so that the unmanned aerial vehicle takes off at the starting point time T0, and flies according to the injected waypoint data at each time point, thereby simulating the satellite to be simulated to fly in the satellite orbit. And the ground measurement and control station generates a tracking plan according to the satellite orbit so as to track and control the unmanned aerial vehicle within a preset time. The user can adjust unmanned aerial vehicle waypoint and task load according to satellite operation task to satisfy the training demand, make the training resource not confine to the satellite of actual in orbit operation, also make the training resource show the increase. The method is used for simulating the satellite transit, and by controlling the unmanned aerial vehicle waypoints and the task load, not only can the state of the satellite to be simulated under the normal condition be simulated, but also the state of the satellite to be simulated under the abnormal condition can be simulated, such as the abnormal conditions of measurement and control of faults of a responder, attitude instability faults and the like, so that a user can obtain more comprehensive operation training, and the error risk of operating the satellite which actually runs in orbit is reduced. And through unmanned aerial vehicle simulation satellite border, not only can practice thrift economic cost, unmanned aerial vehicle provides the fault-tolerance for the user moreover, provides more opportunity cost for the user.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 is a flowchart of a method for simulating a satellite transit by an unmanned aerial vehicle according to an embodiment of the present invention;

fig. 2 is a flowchart illustrating a specific calculation of an azimuth angle a and a pitch angle E according to an embodiment of the present invention;

fig. 3 is a block diagram of a system for simulating satellite transit by an unmanned aerial vehicle according to an embodiment of the present invention;

fig. 4 is a block diagram of a satellite orientation calculation module to be simulated according to an embodiment of the present invention;

fig. 5 is a schematic diagram of a coordinate system of a ground measurement and control station according to an embodiment of the present invention;

fig. 6 is a schematic structural block diagram of an electronic device according to an embodiment of the present invention.

Icon: 100-a system for simulating satellite transit by an unmanned aerial vehicle; 110-a satellite acquisition module to be simulated; 120-a ground measurement and control station coordinate acquisition module; 130-a satellite orientation calculation module to be simulated; 131-a first coordinate calculation unit; 132-a second coordinate calculation unit; 133-a third coordinate calculation unit; 134-a fourth coordinate calculation unit; 135-azimuth calculation unit; 140-satellite transit determination module; 150-a skew distance calculation module; 160-unmanned plane relative coordinate calculation module; 170-waypoint data obtaining module; 180-satellite state simulation module; 101-a memory; 102-a processor; 103-communication interface.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not construed as indicating or implying relative importance.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, the presence of an element identified by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

In the description of the present application, it should be noted that if the terms "upper", "lower", "inner", "outer", etc. are used to indicate an orientation or positional relationship based on that shown in the drawings or that the application product is usually placed in use, the description is merely for convenience and simplicity, and it is not intended to indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore should not be construed as limiting the present application.

In the description of the present application, it should also be noted that, unless otherwise explicitly stated or limited, the terms "disposed" and "connected" should be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.

Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and the individual features of the embodiments can be combined with one another without conflict.

Examples

Referring to fig. 1, fig. 1 is a flowchart illustrating a method for simulating a satellite transit by an unmanned aerial vehicle according to an embodiment of the present invention. A method for simulating satellite transit by an unmanned aerial vehicle comprises the following steps:

s110: acquiring orbit data of a satellite to be simulated, and establishing a satellite orbit according to the orbit data;

the orbit data comprises the orbit number of the satellite to be simulated and relevant mechanical parameters. According to the number of the tracks and the related mechanical parameters, only one track can be determined.

The relevant mechanical parameters comprise a selected gravity field model, a gravity field order and stage, a selected atmospheric density model, space environment parameters in the atmospheric density model, a satellite surface-to-mass ratio and the like.

S120: acquiring coordinate data of a ground measurement and control station, and setting the position of the ground measurement and control station according to the coordinate data of the ground measurement and control station, wherein the coordinate data of the ground measurement and control station comprises longitude, latitude and height data of the ground measurement and control station;

specifically, longitude, latitude and altitude data of the ground measurement and control station are obtained, the longitude, latitude and altitude data of the ground measurement and control station are input into the calculation software, and the position of the ground measurement and control station can be set according to the longitude, latitude and altitude data of the ground measurement and control station in the calculation software.

It should be noted that, the calculation software is used for setting the position of the ground measurement and control station in the prior art, and details are not described herein.

S130: setting a starting time T0 in response to user operation, and calculating an azimuth angle A and a pitch angle E of the satellite to be simulated relative to the position of the ground measurement and control station at each time point according to the starting time T0 and the satellite orbit and a preset sampling step length;

the preset sampling step length may be 1S.

Specifically, after the starting time T0 is calculated according to the satellite orbit and the sampling step length of 1S, cartesian coordinates, that is, first coordinates, of a connecting line position vector of the satellite to be simulated and the geocenter in the geocentric inertial system are calculated, wherein the connecting line position vector of the satellite to be simulated and the geocenter points to the satellite to be simulated. And then according to the coordinate data of the ground measurement and control station, calculating a Cartesian coordinate, namely a second coordinate, of a connecting line position vector of the ground measurement and control station and the geocentric in the geocentric inertial system, wherein the connecting line position vector of the ground measurement and control station and the geocentric points to the ground measurement and control station. And then, subtracting the second coordinate from the first coordinate to obtain a Cartesian coordinate, namely a third coordinate, of the position vector of the satellite to be simulated relative to the ground measurement and control station in the geocentric inertial system, wherein the position vector of the satellite to be simulated relative to the ground measurement and control station points to the satellite to be simulated. Calculating a coordinate conversion matrix from a geocentric inertial system to a ground measurement and control station coordinate system by using coordinate data of the ground measurement and control station, further converting a third coordinate into a Cartesian coordinate, namely a fourth coordinate (X, Y, Z), of a position vector of the satellite to be simulated relative to the ground measurement and control station in the ground measurement and control station coordinate system, and utilizing a formula

And calculating an azimuth angle A, namely the azimuth angle A of the satellite to be simulated relative to the position of the ground measurement and control station. Using formulas

And calculating a pitch angle E, namely the pitch angle E of the satellite to be simulated relative to the position of the ground measurement and control station.

S140: acquiring a minimum elevation angle limiting parameter of a ground measurement and control station, if the elevation angle E is larger than the minimum elevation angle limiting parameter, considering that the satellite to be simulated passes through, and acquiring all time points during the satellite to be simulated passing through;

specifically, the use technical requirements of the ground measurement and control station are obtained, and therefore the lowest elevation angle limiting parameter of the ground measurement and control station is determined. And judging whether the satellite to be simulated passes the border or not by comparing the pitch angle E with the lowest elevation angle limiting parameter. And acquiring all time points in the transit period of the satellite to be simulated, which correspond to all time points.

S150: setting the flying height of the unmanned aerial vehicle as the height h, acquiring the position point of a connecting line between the ground measurement and control station and the satellite to be simulated at the height h according to the azimuth angle A and the pitch angle E of the satellite to be simulated relative to the ground measurement and control station at each time point during the transit period of the satellite to be simulated, and utilizing a formula

Calculating the slant distance r of the unmanned aerial vehicle from the ground measurement and control station;

specifically, when the unmanned aerial vehicle is used for simulating a satellite, because the azimuth angle a and the pitch angle E of the unmanned aerial vehicle relative to the ground measurement and control station are consistent with the azimuth angle a and the pitch angle E of the to-be-simulated satellite relative to the ground measurement and control station, for each time point of the unmanned aerial vehicle, the position point of the connecting line of the ground measurement and control station and the to-be-simulated satellite at the corresponding time point in height h is the position of the unmanned aerial vehicle corresponding to each time point, and then a formula is used for simulating the satellite

And calculating the slant distance r of the unmanned aerial vehicle from the ground measurement and control station.

Referring to fig. 5, fig. 5 is a schematic diagram of a coordinate system of a ground measurement and control station according to an embodiment of the present invention. The coordinate origin is a ground measurement and control station, r is the slope distance between the unmanned aerial vehicle and the ground measurement and control station, h is the flying height of the unmanned aerial vehicle, A is the azimuth angle A, and E is the pitch angle.

S160: calculating the relative coordinates of the unmanned aerial vehicle at each position point according to the slope distance r, the azimuth angle A and the pitch angle E of each time point;

specifically, assuming that the relative coordinates of each position point unmanned aerial vehicle are (x, y, z), the relative coordinates (x, y, z) of each position point unmanned aerial vehicle can be calculated by using the formulas x ═ r · cos (e) cos (a), y ═ r · cos (e) sin (a), and z ═ h.

S170: generating longitude, latitude and altitude data of the waypoints of the unmanned aerial vehicle at each time point according to the relative coordinates of the unmanned aerial vehicle at each position point and longitude, latitude and altitude data of the ground measurement and control station, injecting the longitude, latitude and altitude data of the waypoints of the unmanned aerial vehicle at each time point into the unmanned aerial vehicle, taking off the unmanned aerial vehicle at the starting point time T0, and flying according to the longitude, latitude and altitude data of the waypoints;

specifically, the relative coordinates of each position point unmanned aerial vehicle are obtained according to the azimuth angle a and the pitch angle E of the satellite to be simulated relative to the ground measurement and control station at each time point during the transit period of the satellite to be simulated, so that the relative coordinates of each position point unmanned aerial vehicle are the coordinates of the position vector of each position point unmanned aerial vehicle relative to the ground measurement and control station in the coordinate system of the ground measurement and control station. And obtaining longitude, latitude and altitude data of the unmanned aerial vehicle at each time point according to the longitude, latitude and altitude data of the ground measurement and control station, namely the waypoint data.

In the implementation process, the unmanned aerial vehicle is hung with cooperative target equipment such as a measurement and control transponder or a beacon machine, and the unmanned aerial vehicle takes off at a starting point time T0 and flies according to the injected route point data of each time point so as to simulate the satellite to be simulated to fly in the satellite orbit.

S180: the ground measurement and control station generates a tracking plan according to the satellite orbit so as to track and control the unmanned aerial vehicle within a preset time, respond to user operation and control the waypoints and the task load of the unmanned aerial vehicle, and simulate the satellite to be simulated in a normal state and an emergency state.

The preset time refers to a time for a satellite to be simulated to transit once, and may be 10 minutes. The user may be a ground operator.

Specifically, the ground measurement and control station generates a tracking plan according to the satellite orbit, and necessary technical states and parameter settings are implemented at the ground measurement and control station so as to track and control the unmanned aerial vehicle within a preset time. The user can adjust unmanned aerial vehicle waypoint and task load according to satellite operation task to satisfy the training demand, make the training resource not confine to the satellite of actual in orbit operation, also make the training resource show the increase. The method is used for simulating the satellite transit, and by controlling the unmanned aerial vehicle waypoints and the task load, not only can the state of the satellite to be simulated under the normal condition be simulated, but also the state of the satellite to be simulated under the abnormal condition can be simulated, such as the abnormal conditions of measurement and control of faults of a responder, attitude instability faults and the like, so that a user can obtain more comprehensive operation training, and the error risk of operating the satellite which actually runs in orbit is reduced. And through unmanned aerial vehicle simulation satellite border, not only can practice thrift economic cost, unmanned aerial vehicle provides the fault-tolerance for the user moreover, provides more opportunity cost for the user.

Referring to fig. 2, fig. 2 is a flowchart illustrating a specific calculation of an azimuth angle a and a pitch angle E according to an embodiment of the present invention. In some embodiments of this embodiment, the step of calculating the azimuth angle a and the pitch angle E of the satellite to be simulated at each time point relative to the position of the ground measurement and control station according to the starting time T0 and the satellite orbit and a preset sampling step includes:

s131: according to the satellite orbit, after the starting time T0 is calculated according to the preset sampling step length, the Cartesian coordinate, namely a first coordinate, of the connecting line position vector of the satellite to be simulated and the geocentric in the geocentric inertial system is calculated;

and the vector of the connecting line position of the satellite to be simulated and the geocenter points to the satellite to be simulated.

S132: according to the coordinate data of the ground measurement and control station, calculating a Cartesian coordinate, namely a second coordinate, of a connecting line position vector of the ground measurement and control station and the geocentric in the geocentric inertial system;

and the vector of the connecting line position of the ground measurement and control station and the ground center points to the ground measurement and control station.

S133: subtracting the second coordinate from the first coordinate to obtain a Cartesian coordinate, namely a third coordinate, of the position vector of the satellite to be simulated relative to the ground measurement and control station in the geocentric inertial system;

and the position vector of the satellite to be simulated relative to the ground measurement and control station points to the satellite to be simulated.

S134: according to the coordinate data of the ground measurement and control station, calculating a coordinate conversion matrix from a geocentric inertial system to a ground measurement and control station coordinate system, and converting a third coordinate into a Cartesian coordinate, namely a fourth coordinate, of a to-be-simulated satellite relative to a position vector of the ground measurement and control station in the ground measurement and control station coordinate system according to the coordinate conversion matrix;

s135: and (4) setting the fourth coordinate as (X, Y, Z), and calculating the azimuth angle A and the pitch angle E of the satellite to be simulated at each time point relative to the position of the ground measurement and control station according to the (X, Y, Z).

In some embodiments of this embodiment, the step of calculating the azimuth angle a and the pitch angle E of the satellite to be simulated at each time point with respect to the position of the ground measurement and control station according to (X, Y, Z) includes: according to (X, Y, Z), using the formula

Calculating the azimuth A by using the formula

And calculating a pitch angle E.

In some embodiments of this embodiment, the step of acquiring orbit data of the satellite to be simulated and establishing the satellite orbit according to the orbit data includes: the method comprises the steps of obtaining the orbit number and relevant mechanical parameters of a satellite to be simulated, and determining the satellite orbit according to the orbit number and the relevant mechanical parameters.

In some embodiments of this embodiment, before the step of obtaining the lowest elevation limit parameter of the ground measurement and control station, the method further includes: and acquiring the use technical requirements of the ground measurement and control station, and setting the minimum elevation angle limiting parameter according to the use technical requirements.

In some embodiments of this embodiment, the step of calculating the relative coordinates of the drone at each location point according to the slope distance r, the azimuth angle a, and the pitch angle E at each time point includes: the relative coordinates (x, y, z) of the drone at each location point are calculated using the formulas x ═ r · cos (e) cos (a), y ═ r · cos (e) sin (a), and z ═ h.

Referring to fig. 3, fig. 3 is a block diagram illustrating a system 100 for simulating a satellite transit by an unmanned aerial vehicle according to an embodiment of the present invention. The embodiment of the application provides a system 100 for simulating satellite transit by an unmanned aerial vehicle, which comprises: a to-be-simulated satellite acquisition module 110 for acquiringAnd establishing the satellite orbit according to the orbit data. And the ground measurement and control station coordinate acquisition module 120 is configured to acquire coordinate data of the ground measurement and control station, and set a position of the ground measurement and control station according to the coordinate data of the ground measurement and control station, where the coordinate data of the ground measurement and control station includes longitude, latitude, and altitude data of the ground measurement and control station. And the satellite orientation calculation module 130 is configured to set a starting time T0 in response to a user operation, and calculate an azimuth angle a and a pitch angle E of the satellite to be simulated at each time point relative to the position of the ground measurement and control station according to the starting time T0 and the satellite orbit and a preset sampling step length. And the satellite transit judging module 140 is configured to acquire a lowest elevation angle limiting parameter of the ground measurement and control station, and if the elevation angle E is greater than the lowest elevation angle limiting parameter, consider that the satellite to be simulated transits, and acquire all time points during the transit period of the satellite to be simulated. The slope distance calculation module 150 is used for setting the flying height of the unmanned aerial vehicle as the height h, acquiring the position point of the connection line between the ground measurement and control station and the satellite to be simulated at the height h according to the azimuth angle A and the pitch angle E of the satellite to be simulated relative to the ground measurement and control station at each time point during the transit period of the satellite to be simulated, and utilizing a formula

And calculating the slant distance r of the unmanned aerial vehicle from the ground measurement and control station. And the unmanned aerial vehicle relative coordinate calculation module 160 is configured to calculate the relative coordinate of the unmanned aerial vehicle at each position point according to the slope distance r, the azimuth angle a, and the pitch angle E of each time point. The waypoint data obtaining module 170 is configured to generate longitude, latitude, and altitude data of the waypoint of the unmanned aerial vehicle at each time point according to the relative coordinates of the unmanned aerial vehicle at each position point and longitude, latitude, and altitude data of the ground measurement and control station, inject the longitude, latitude, and altitude data of the waypoint of the unmanned aerial vehicle at each time point into the unmanned aerial vehicle, and take off the unmanned aerial vehicle at the starting time T0 and fly according to the longitude, latitude, and altitude data of the waypoint. And the satellite state simulation module 180 is used for generating a tracking plan according to the satellite orbit by the ground measurement and control station so as to track and control the unmanned aerial vehicle within a preset time, respond to the user operation and control the waypoint and the task load of the unmanned aerial vehicle, and simulate the satellite to be simulated in a normal state and an emergency state.

Specifically, the system firstly calculates an azimuth angle A and a pitch angle E of the satellite to be simulated relative to the position of the ground measurement and control station at each time point after a starting time T0 according to the satellite orbit and a preset sampling step length, and then judges whether the satellite to be simulated crosses the border or not by comparing the pitch angle E with the lowest elevation angle limiting parameter. And acquiring all time points in the transit period of the satellite to be simulated, which correspond to all time points. For each time point unmanned aerial vehicle, the position point of the connecting line of the ground measurement and control station and the satellite to be simulated at the corresponding time point at the height h is the position of the unmanned aerial vehicle corresponding to each time point, and a formula is utilized

And calculating the slant distance r of the unmanned aerial vehicle from the ground measurement and control station. And then, according to the slope distance, the azimuth angle A and the pitch angle E of each time point, the relative coordinates of the unmanned aerial vehicle at each position point can be calculated. And then, according to the relative coordinates of the unmanned aerial vehicle at each position point and longitude, latitude and altitude data of the ground measurement and control station, the longitude, latitude and altitude data of the unmanned aerial vehicle at each time point, namely, waypoint data, are obtained, all the waypoint data during the transit period of the satellite are injected into the unmanned aerial vehicle, so that the unmanned aerial vehicle takes off at the starting point time T0, and flies according to the injected waypoint data at each time point, thereby simulating the satellite to be simulated to fly in the satellite orbit. And the ground measurement and control station generates a tracking plan according to the satellite orbit so as to track and control the unmanned aerial vehicle within a preset time. The user can adjust unmanned aerial vehicle waypoint and task load according to satellite operation task to satisfy the training demand, make the training resource not confine to the satellite of actual in orbit operation, also make the training resource show the increase. The method is used for simulating the satellite transit, and by controlling the unmanned aerial vehicle waypoints and the task load, not only can the state of the satellite to be simulated under the normal condition be simulated, but also the state of the satellite to be simulated under the abnormal condition can be simulated, such as the abnormal conditions of measurement and control of faults of a responder, attitude instability faults and the like, so that a user can obtain more comprehensive operation training, and the error risk of operating the satellite which actually runs in orbit is reduced. And simulating satellite passing through by unmanned aerial vehicleAnd moreover, the economic cost can be saved, the unmanned aerial vehicle provides fault tolerance for the user, and more opportunity cost is provided for the user.

Referring to fig. 4, fig. 4 is a block diagram illustrating a structure of a satellite position calculation module 130 to be simulated according to an embodiment of the invention. In some embodiments of this embodiment, the module 130 for calculating the satellite position to be simulated includes: the first coordinate calculation unit 131 is configured to calculate, according to the satellite orbit and according to a preset sampling step length, a cartesian coordinate, that is, a first coordinate of a connecting line position vector of the satellite to be simulated and the geocentric in the geocentric inertial system after the starting time T0. And the second coordinate calculation unit 132 is configured to calculate a cartesian coordinate, that is, a second coordinate, of a location vector of a connection line between the ground measurement and control station and the geocentric in the geocentric inertial system according to the coordinate data of the ground measurement and control station. And the third coordinate calculation unit 133 is configured to subtract the second coordinate from the first coordinate to obtain a cartesian coordinate, that is, a third coordinate, of the position vector of the satellite to be simulated relative to the ground measurement and control station in the geocentric inertial system. And the fourth coordinate calculation unit 134 is configured to calculate a coordinate conversion matrix from the geocentric inertial system to the ground measurement and control station coordinate system according to the coordinate data of the ground measurement and control station, and convert the third coordinate into a cartesian coordinate, that is, a fourth coordinate, of the satellite to be simulated in the ground measurement and control station coordinate system relative to the ground measurement and control station position vector according to the coordinate conversion matrix. And the azimuth angle calculation unit 135 is configured to set the fourth coordinate as (X, Y, Z), and calculate an azimuth angle a and a pitch angle E of the satellite to be simulated at each time point relative to the position of the ground measurement and control station according to (X, Y, Z).

In some embodiments of the present embodiment, the azimuth angle calculating unit 135 includes: a formula calculation subunit for using the formula according to (X, Y, Z)

Calculating the azimuth A by using the formula

And calculating a pitch angle E.

In some embodiments of the present embodiment, the above-mentioned to-be-simulated satellite acquisition module 110 includes: and the satellite orbit determination unit is used for acquiring the orbit number and the related mechanical parameters of the satellite to be simulated and determining the satellite orbit according to the orbit number and the related mechanical parameters.

In some embodiments of this embodiment, the system 100 for simulating satellite transit by the drone further includes: and the minimum elevation angle limiting parameter setting module is used for acquiring the use technical requirements of the ground measurement and control station and setting the minimum elevation angle limiting parameter according to the use technical requirements.

In some embodiments of this embodiment, the unmanned aerial vehicle relative coordinate calculation module 160 includes: and an equation calculation unit for calculating relative coordinates (x, y, z) of the unmanned aerial vehicle at each position point by using equations x-r · cos (e) cos (a), y-r · cos (e) sin (a), and z-h.

Referring to fig. 6, fig. 6 is a schematic structural block diagram of an electronic device according to an embodiment of the present disclosure. The electronic device comprises a memory 101, a processor 102 and a communication interface 103, wherein the memory 101, the processor 102 and the communication interface 103 are electrically connected to each other directly or indirectly to realize data transmission or interaction. For example, the components may be electrically connected to each other via one or more communication buses or signal lines. The memory 101 may be used to store software programs and modules, such as program instructions/modules corresponding to the system 100 for simulating satellite transit by drones provided in the embodiments of the present application, and the processor 102 executes the software programs and modules stored in the memory 101, so as to execute various functional applications and data processing. The communication interface 103 may be used for communicating signaling or data with other node devices.

The Memory 101 may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Read-Only Memory (EPROM), an electrically Erasable Read-Only Memory (EEPROM), and the like.

The processor 102 may be an integrated circuit chip having signal processing capabilities. The Processor 102 may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components.

It will be appreciated that the configuration shown in fig. 6 is merely illustrative and that the electronic device may include more or fewer components than shown in fig. 6 or have a different configuration than shown in fig. 6. The components shown in fig. 6 may be implemented in hardware, software, or a combination thereof.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

It will be evident to those skilled in the art that the present application is not limited to the details of the foregoing illustrative embodiments, and that the present application may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims

1. A method for simulating satellite transit by an unmanned aerial vehicle is characterized by comprising the following steps:

acquiring orbit data of a satellite to be simulated, and establishing a satellite orbit according to the orbit data;

acquiring coordinate data of a ground measurement and control station, and setting the position of the ground measurement and control station according to the coordinate data of the ground measurement and control station, wherein the coordinate data of the ground measurement and control station comprises longitude, latitude and height data of the ground measurement and control station;

setting a starting time T0 in response to user operation, and calculating an azimuth angle A and a pitch angle E of the satellite to be simulated relative to the position of the ground measurement and control station at each time point according to the starting time T0 and the satellite orbit and a preset sampling step length;

acquiring a lowest elevation limiting parameter of the ground measurement and control station, if the pitch angle E is greater than the lowest elevation limiting parameter, determining that the satellite to be simulated passes through, and acquiring all time points during the satellite to be simulated passing;

setting the flying height of the unmanned aerial vehicle as height h, acquiring the position point of a connecting line between the ground measurement and control station and the satellite to be simulated at the height h according to the azimuth angle A and the pitch angle E of the satellite to be simulated relative to the ground measurement and control station at each time point during the transit period of the satellite to be simulated, and utilizing a formula

calculating the relative coordinates of the unmanned aerial vehicle at each position point according to the slope distance r, the azimuth angle A and the pitch angle E of each time point;

generating longitude, latitude and altitude data of route points of the unmanned aerial vehicle at each time point according to relative coordinates of the unmanned aerial vehicle at each position point and longitude, latitude and altitude data of the ground measurement and control station, and injecting the longitude, latitude and altitude data of the route points of the unmanned aerial vehicle at each time point into the unmanned aerial vehicle, wherein the unmanned aerial vehicle takes off at a starting point T0 and flies according to the longitude, latitude and altitude data of the route points;

and the ground measurement and control station generates a tracking plan according to the satellite orbit so as to track and control the unmanned aerial vehicle within a preset time, and responds to user operation to control the waypoints and the task load of the unmanned aerial vehicle so as to simulate the satellite to be simulated in a normal state and an emergency state.

2. The method for simulating satellite transit by unmanned aerial vehicle of claim 1, wherein the step of calculating the azimuth angle a and the pitch angle E of the satellite to be simulated at each time point relative to the position of the ground measurement and control station according to the starting time T0 and the satellite orbit and a preset sampling step comprises:

according to the satellite orbit and a preset sampling step length, calculating a Cartesian coordinate, namely a first coordinate, of a connecting line position vector of the satellite to be simulated and the geocentric in the geocentric inertial system after the starting time T0;

according to the coordinate data of the ground measurement and control station, calculating a Cartesian coordinate, namely a second coordinate, of a connecting line position vector of the ground measurement and control station and the geocentric in a geocentric inertial system;

subtracting the second coordinate from the first coordinate to obtain a Cartesian coordinate, namely a third coordinate, of the position vector of the satellite to be simulated relative to the ground measurement and control station in the geocentric inertial system;

calculating a coordinate conversion matrix from a geocentric inertial system to a ground measurement and control station coordinate system according to the coordinate data of the ground measurement and control station, and converting the third coordinate into a Cartesian coordinate, namely a fourth coordinate, of the position vector of the satellite to be simulated relative to the ground measurement and control station in the ground measurement and control station coordinate system according to the coordinate conversion matrix;

and (4) setting the fourth coordinate as (X, Y, Z), and calculating the azimuth angle A and the pitch angle E of the satellite to be simulated at each time point relative to the position of the ground measurement and control station according to the (X, Y, Z).

3. The method for simulating satellite transit by unmanned aerial vehicle of claim 2, wherein the step of calculating the azimuth angle a and the pitch angle E of the satellite to be simulated at each time point relative to the position of the ground measurement and control station according to the (X, Y, Z) comprises:

according to the (X, Y, Z), using the formula

Calculating the azimuth A by using the formula

And calculating a pitch angle E.

4. The method for simulating satellite transit by an unmanned aerial vehicle of claim 1, wherein the step of acquiring orbit data of a satellite to be simulated and establishing a satellite orbit according to the orbit data comprises:

the method comprises the steps of obtaining the orbit number and relevant mechanical parameters of a satellite to be simulated, and determining the satellite orbit according to the orbit number and the relevant mechanical parameters.

5. The method for simulating satellite transit by unmanned aerial vehicle of claim 1, wherein the step of obtaining the lowest elevation limit parameter of the ground measurement and control station is preceded by the step of:

acquiring the use technical requirements of the ground measurement and control station, and setting the minimum elevation angle limiting parameter according to the use technical requirements.

6. The method for simulating satellite transit by drones according to claim 1, wherein the step of calculating the relative coordinates of the drones at each location point according to the slope distance r, the azimuth angle a and the pitch angle E of each time point comprises:

the relative coordinates (x, y, z) of the drone at each location point are calculated using the formulas x ═ r · cos (e) cos (a), y ═ r · cos (e) sin (a), and z ═ h.

7. A system for simulating satellite transit by an unmanned aerial vehicle, comprising:

the system comprises a to-be-simulated satellite acquisition module, a to-be-simulated satellite acquisition module and a simulation module, wherein the to-be-simulated satellite acquisition module is used for acquiring orbit data of a to-be-simulated satellite and establishing a satellite orbit according to the orbit data;

the system comprises a ground measurement and control station coordinate acquisition module, a ground measurement and control station coordinate acquisition module and a ground measurement and control station position setting module, wherein the ground measurement and control station coordinate acquisition module is used for acquiring coordinate data of a ground measurement and control station and setting the position of the ground measurement and control station according to the coordinate data of the ground measurement and control station, and the coordinate data of the ground measurement and control station comprises longitude, latitude and altitude data of the ground measurement and control station;

the satellite orientation calculation module to be simulated is used for setting a starting time T0 in response to user operation, and calculating an azimuth angle A and a pitch angle E of the satellite to be simulated relative to the position of the ground measurement and control station at each time point according to the starting time T0 and the satellite orbit and a preset sampling step length;

the satellite transit judging module is used for acquiring the lowest elevation angle limiting parameter of the ground measurement and control station, if the pitch angle E is larger than the lowest elevation angle limiting parameter, the satellite to be simulated transits, and all time points during the transit period of the satellite to be simulated are acquired;

the system comprises an inclination distance calculation module, a positioning module and a control module, wherein the inclination distance calculation module is used for setting the flying height of the unmanned aerial vehicle as the height h, acquiring the position point of the connection line of the ground measurement and control station and the satellite to be simulated at the height h according to the azimuth angle A and the pitch angle E of the satellite to be simulated relative to the ground measurement and control station at each time point during the transit period of the satellite to be simulated, and utilizing a formula

the unmanned aerial vehicle relative coordinate calculation module is used for calculating the relative coordinate of the unmanned aerial vehicle at each position point according to the slope distance r, the azimuth angle A and the pitch angle E of each time point;

the system comprises an unmanned aerial vehicle route point data obtaining module, a ground measurement and control station acquiring module and a control module, wherein the unmanned aerial vehicle route point data obtaining module is used for generating longitude, latitude and altitude data of route points of the unmanned aerial vehicle at each time point according to relative coordinates of the unmanned aerial vehicle at each position point and longitude, latitude and altitude data of the ground measurement and control station, injecting the longitude, latitude and altitude data of the route points of the unmanned aerial vehicle at each time point into the unmanned aerial vehicle, taking off the unmanned aerial vehicle at a starting point time T0, and flying according to the longitude, latitude and altitude data of the route points;

and the satellite state simulation module is used for generating a tracking plan by the ground measurement and control station according to the satellite orbit so as to track and control the unmanned aerial vehicle within a preset time, respond to user operation and control the waypoint and the task load of the unmanned aerial vehicle, and simulate the satellite to be simulated in a normal state and an emergency state.

8. The system for unmanned aerial vehicle simulation of satellite transit as claimed in claim 7, wherein the to-be-simulated satellite bearing calculation module comprises:

the first coordinate calculation unit is used for calculating a cartesian coordinate, namely a first coordinate, of a connecting line position vector of the satellite to be simulated and the geocentric in the geocentric inertial system after the starting time T0 according to the satellite orbit and a preset sampling step length;

the second coordinate calculation unit is used for calculating a Cartesian coordinate, namely a second coordinate, of a connecting line position vector of the ground measurement and control station and the geocentric in the geocentric inertial system according to the coordinate data of the ground measurement and control station;

the third coordinate calculation unit is used for subtracting the second coordinate from the first coordinate to obtain a Cartesian coordinate, namely a third coordinate, of the position vector of the satellite to be simulated relative to the ground measurement and control station in the geocentric inertial system;

the fourth coordinate calculation unit is used for calculating a coordinate conversion matrix from a geocentric inertia system to a ground measurement and control station coordinate system according to the coordinate data of the ground measurement and control station, and converting the third coordinate into a Cartesian coordinate, namely a fourth coordinate, of the satellite to be simulated in the ground measurement and control station coordinate system relative to the ground measurement and control station position vector according to the coordinate conversion matrix;

and the azimuth angle calculation unit is used for setting the fourth coordinate as (X, Y, Z) and calculating an azimuth angle A and a pitch angle E of the satellite to be simulated at each time point relative to the position of the ground measurement and control station according to the (X, Y, Z).

9. An electronic device, comprising:

a memory for storing one or more programs;

a processor;

the one or more programs, when executed by the processor, implement the method of any of claims 1-6.

10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1-6.