CN115037372A - Link establishment method for space laser communication terminal - Google Patents
Link establishment method for space laser communication terminal Download PDFInfo
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- CN115037372A CN115037372A CN202210635446.6A CN202210635446A CN115037372A CN 115037372 A CN115037372 A CN 115037372A CN 202210635446 A CN202210635446 A CN 202210635446A CN 115037372 A CN115037372 A CN 115037372A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
- H04B10/11—Arrangements specific to free-space transmission, i.e. transmission through air or vacuum
- H04B10/118—Arrangements specific to free-space transmission, i.e. transmission through air or vacuum specially adapted for satellite communication
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
- H04B10/50—Transmitters
- H04B10/501—Structural aspects
- H04B10/503—Laser transmitters
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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
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Abstract
The invention relates to a link establishment method of a space laser communication terminal, and belongs to the technical field of aerospace communication. The method mainly aims at the problems that the existing inter-satellite laser link establishing method cannot quantify the initial pointing direction and the scanning range, is easy to cause scanning missing and has no subsequent remedial measures after scanning capture failure, and provides the following technical scheme: initializing the configuration; the A end completes pre-pointing adjustment according to the position, the posture and the position of the target end of the A end; the B terminal completes pre-pointing adjustment according to the position, the posture and the position of the target end of the home terminal; scanning and capturing the end A, and staring at the end B; and the A end and the B end carry out double-end capture, fine tracking and starting, and correction errors are corrected. The invention can quantify the initial pointing and scanning range; the satellite attitude measurement error, the satellite attitude stability, the laser terminal actuating mechanism measurement error and the laser terminal installation error are considered, and the problem of scanning missing during scanning is avoided.
Description
Technical Field
The invention relates to the technical field of aerospace communication, in particular to a link establishment method for a space laser communication terminal.
Background
With the development of space laser communication technology, the development of safe and reliable space-ground integrated communication technology has become an important strategic task for building information infrastructure in China. And the construction of a high-speed inter-satellite laser communication network has great practical significance for the future world-wide integrated deployment in China. At present, various satellite information networks started in China adopt laser links as inter-satellite data transmission links.
There are several problems in the conventional inter-satellite laser link establishment method. First, the conventional inter-satellite laser link establishment method cannot quantify the initial pointing direction and the scanning range. Secondly, the traditional inter-satellite laser link establishment method does not consider satellite attitude measurement errors, satellite attitude stability, laser terminal actuating mechanism measurement errors and laser terminal installation errors, so that scanning missing is caused during scanning. Finally, the conventional inter-satellite laser link establishment method has no subsequent remedial measures after scan capture fails.
Disclosure of Invention
The invention aims to provide a link establishment method of a space laser communication terminal, which aims to solve the problem that the existing inter-satellite laser link establishment method cannot quantify the initial pointing and scanning range.
The invention also aims to provide a link establishing method of the space laser communication terminal, which aims to solve the problem of scanning missing caused by the fact that the existing inter-satellite laser link establishing method does not consider satellite attitude measurement errors, satellite attitude stability, laser terminal actuating mechanism measurement errors and laser terminal installation errors.
The invention also aims to provide a link establishment method of the space laser communication terminal, so as to solve the problem that the conventional inter-satellite laser link establishment method has no subsequent remedial measures after scanning acquisition fails.
In order to solve the technical problem, the invention provides a link establishment method of a space laser communication terminal, which comprises the following steps:
initializing the configuration;
the A end completes pre-pointing adjustment according to the position, the posture and the position of the target end of the A end; the B terminal completes pre-pointing adjustment according to the position, the posture and the position of the target end of the home terminal;
scanning and capturing the end A, and staring the end B;
the A end and the B end are subjected to double-end capture, fine tracking and starting, and correction errors are corrected;
and the signal light enters a communication view field to establish a laser communication link.
Preferably, in the method for establishing a link of a space laser communication terminal, the initializing configuration includes:
initializing A-terminal parameters, including: correcting error theta AZD ,θ AXD Scanning step length A1, residence time T1, correction step length A2 and correction residence time T2; initializing parameters of a terminal B, comprising: correcting error theta BZD ,θ BXD Scanning step length A1, residence time T1, correction step length A2 and correction residence time T2;
terminal installation angles γ x, γ y, γ z, ψ x, ψ y, ψ z are set.
Preferably, in the method for building a link of a space laser communication terminal, the step of completing the pre-pointing adjustment by the terminal a according to the position of the terminal, the posture of the terminal, and the position of the target end includes:
reading a rolling angle phi Ax, a pitch angle phi Ay and a yaw angle phi Az of the A end by the A end, and reading an A end position OAw [ Xa; ya; za ], read target B end position OBw [ Xb; yb; zb ];
terminal coordinate system O A XYZ through attitude transformation matrix T A2 Conversion to satellite coordinate system O A '-X' Y 'Z', a vector pointing from the A end to the B end in the satellite coordinate system is
The optical axis of the A-end terminal is adjusted by adjusting the azimuth angle theta AZ Angle of pitch theta AX To rotate the optical axis to
The terminal of the A terminal points to the terminal of the B terminal.
Preferably, in the method for building a link of a space laser communication terminal, the B-end completes pre-pointing adjustment according to the position of the B-end, the attitude of the B-end, and the position of the target end, and includes:
the B end reads a rolling angle phi Bx, a pitch angle phi By, a yaw angle phi Bz and a B end position OBw [ Xb; yb; zb ], read target a end position OAw [ Xa; ya; za ];
terminal coordinate system O B -XYZ pass through attitudeState transition matrix T B2 Conversion to satellite coordinate system O B '-X' Y 'Z', a vector pointing from the B end to the A end in the satellite coordinate system is
The optical axis of the terminal at the B end is adjusted by adjusting the azimuth angle theta BZ Angle of pitch theta BX To rotate the optical axis to
The terminal of the B terminal points to the terminal A.
Preferably, in the method for building a link of a space laser communication terminal, the scanning capture at the a-end and the gaze fixation at the B-end include:
calculating the uncertainty region σ O The following errors are included: local end positioning error sigma 1 Target side positioning error σ 2 Error of measurement accuracy of home attitude 3 Local attitude stabilization error σ 4 Error of terminal mounting accuracy σ 5 Terminal system error σ 6 End thermal distortion error σ 7 The above error is 3 sigma, sigma is the standard deviation,
error in home location
E 1 Is the error of the positioning precision of the home terminal, and L is the distance between the two terminals;
target end positioning error
E 2 Is the target end positioning accuracy error, and L is the distance between the two ends;
error sigma of measurement precision of attitude of home terminal 3 Directly reading the measurement precision of the attitude measurement equipment;
attitude stabilization error sigma of home terminal 4 Directly reading the stable error of the attitude measurement equipment;
terminal mounting accuracy error sigma 5 After the installation is finished, the measurement is carried out through calibration;
system error of terminal sigma 6 After the terminal is assembled, the terminal is calibrated and measured;
end thermal distortion error sigma 7 Measuring the deformation in a thermal equilibrium test;
the A-terminal turns on the beacon light by sigma O Starting spiral scanning according to the uncertain region, and staring by opening beacon light at the end B;
scanning an uncertain region by an Archimedes spiral by using A3-A1 as a step pitch and T3-T1 as the dwell time of each step, and scanning the uncertain region to the outermost end in a reverse inward mode and to the innermost end in a reverse mode;
if the acquisition is not successful after three round trips of scanning, the step distance A3 is A1-A2, the dwell time T3 of each step is T1+ T2, and the scanning is started again;
if the acquisition is not successful after three round trips are scanned again, the step distance A3 is A1-2A 2, the dwell time T3 of each step is T1+ 2T 2, and the scanning is started for the third time;
and if the scanning is not successfully captured after the third scanning round trip, sending a scanning and capturing failure feedback signal to wait for the upper computer to respond.
Preferably, in the method for building a link of a spatial laser communication terminal, the performing double-end capture, fine tracking start, and correcting a correction error at the a end and the B end includes:
when the end beacon light covers the B end, the B end receives the beacon light, and the tracking detector measures the offset delta theta of the light spot central point at the calibrated tracking central position BZ And Δ θ BX ；
The B-end actuating mechanisms respectively adjust azimuth angles theta' BZ ＝θ BZ +Δθ BZ And a pitch angle θ' BX ＝θ BX +Δθ BX Completing the capture;
at the moment, the beacon light of the B end covers the A end, the A end receives the beacon light, and the tracking detector measures the offset delta theta of the light spot central point at the calibrated tracking central position AZ And Δ θ AX ；
The A-end actuating mechanisms respectively adjust azimuth angles theta' AZ ＝θ AZ +Δθ AZ And a pitch angle θ' AX ＝θ AX +Δθ AX Completing the capture;
at the moment, the centers of the beacon light spots at the two ends are both positioned at the tracking center position calibrated by the target end tracking camera, the executing mechanism maintains the light spots at the two ends at the tracking center position, and the A end corrects the error theta AZD ＝Δθ AZ ，θ AXD ＝Δθ AX Correction error theta at B terminal BZD ＝Δθ BZ ，θ BXD ＝Δθ BX ；
Preferably, in the method for establishing a link of a space laser communication terminal, the entering of the signal light into the communication field to establish a laser communication link includes:
the signal light is started at the two ends and enters a communication view field;
and establishing a laser communication link and starting communication.
Compared with the prior art, the invention has the beneficial effects that:
(1): the inter-satellite laser link establishment method can quantify the initial pointing and scanning range;
(2): according to the inter-satellite laser link establishing method, the satellite attitude measurement error, the satellite attitude stability, the laser terminal actuating mechanism measurement error and the laser terminal installation error are considered, and the problem of scanning missing during scanning is avoided;
(3): the inter-satellite laser link establishment method can provide subsequent remedial measures after scanning capture fails.
Drawings
Fig. 1 is a flowchart of a link establishment method of a space laser communication terminal according to the present invention;
fig. 2 is a schematic diagram illustrating a relative installation relationship between a terminal and a satellite according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a terminal pointing azimuth and pitch angle in an embodiment of the present invention;
fig. 4 is a schematic diagram of offsets of a light spot and a calibration tracking center in a terminal tracking camera according to an embodiment of the present invention.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will aid those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any manner. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the invention.
As shown in fig. 1-4, the present invention provides a link establishment method for a spatial laser communication terminal, including: initializing the configuration;
the A end completes pre-pointing adjustment according to the position, the posture and the position of the target end of the A end; the B terminal completes pre-pointing adjustment according to the position of the home terminal, the posture of the home terminal and the position of the target end;
scanning and capturing the end A, and staring the end B;
enabling the A end and the B end to carry out double-end capture, fine tracking and starting, and correcting a correction error;
and the signal light enters a communication view field to establish a laser communication link.
In the method for establishing a link of a space laser communication terminal, initializing the configuration includes:
initializing parameters of an A terminal, comprising: correcting error theta AZD ,θ AXD Scanning step length A1, residence time T1, correction step length A2 and correction residence time T2; initializing parameters of a terminal B, comprising: correcting error theta BZD ,θ BXD Scanning step length A1, residence time T1, correction step length A2 and correction residence time T2; setting terminal installation angles gamma x, gamma y, gamma z, psi x, psi y and psi z;
then the mounting matrix of the a terminal
B-terminal installation matrix
In the method for building a link of a space laser communication terminal, the step of completing the pre-pointing adjustment by the terminal A according to the position, the posture and the position of the target end comprises the following steps:
reading a rolling angle phi Ax, a pitch angle phi Ay, a yaw angle phi Az and an A end position OAw [ Xa; ya; za ], read target B end position OBw [ Xb; yb; zb ];
terminal coordinate system O A XYZ through attitude transformation matrix T A2 Conversion to satellite coordinate system O A '-X' Y 'Z', a vector pointing from the A end to the B end in the satellite coordinate system is
An A-terminal attitude transformation matrix:
the optical axis of the A-end terminal is adjusted by adjusting the azimuth angle theta AZ Angle of pitch theta AX To rotate the optical axis to
The terminal of the A end points to the terminal of the B end; azimuth angle
Pitch angle
In the method for building a link of a space laser communication terminal, the B-side completes pre-pointing adjustment according to the position, the posture and the position of a target end of the B-side, and comprises the following steps:
the B end reads a rolling angle phi Bx, a pitch angle phi By, a yaw angle phi Bz and a B end position OBw [ Xb; yb; zb ], read target a end position OAw [ Xa; ya; za ];
terminal coordinate system O B XYZ through attitude transformation matrix T B2 Conversion to satellite coordinate system O B '-X' Y 'Z', a vector pointing from the B end to the A end in the satellite coordinate system is
B-end attitude transformation matrix:
the optical axis of the terminal at the B end is adjusted by adjusting the azimuth angle theta BZ Angle of pitch θ BX To rotate the optical axis to
Enabling the terminal of the B terminal to point to the A terminal;
azimuth angle
Pitch angle
In the method for building a link of a space laser communication terminal, scanning capture is performed at the end A, and staring is performed at the end B, and the method comprises the following steps:
calculating the uncertainty region σ O Including the following errors: local end positioning error sigma 1 Target end positioning error σ 2 Error of measurement accuracy of local attitude 3 Local attitude stabilization error σ 4 Error of terminal mounting accuracy σ 5 Terminal system error σ 6 End thermal distortion error σ 7 The above error is 3 sigma, sigma is the standard deviation,
error in home location
E 1 Is the error of the positioning precision of the home terminal, and L is the distance between the two terminals;
target end positioning error sigma 2 ＝arctan()，E 2 Is the target end positioning accuracy error, and L is the distance between the two ends;
error sigma of measurement precision of attitude of home terminal 3 Directly reading the measurement precision of the attitude measurement equipment;
attitude stabilization error sigma of home terminal 4 Directly reading the stable error of the attitude measurement equipment;
terminal installation accuracy error sigma 5 After the installation is finished, the measurement is carried out through calibration;
system error of terminal sigma 6 After the terminal is assembled, the terminal is calibrated and measured;
end thermal distortion error sigma 7 Measuring the deformation in a thermal equilibrium test;
the following table shows the error term and uncertainty region for a terminal:
| number of | Error term | Error value |
| σ 1 | Error in home location | 1mrad(1000m@1000km) |
| σ 2 | Target end positioning error | 0.01mrad(10m@1000km) |
| σ 3 | Accuracy error of measurement of home terminal attitude | 0.01° |
| σ 4 | Attitude stabilization error of home terminal | 0.03° |
| σ 5 | Error in mounting accuracy of home terminal | 0.01° |
| σ 6 | Error of home terminal system | 0.007° |
| σ 7 | Local thermal deformation error | 0.027° |
| σ O | Uncertain region | 1.25mrad |
The A-terminal turns on the beacon light by sigma O As an uncertain region, according to the uncertain regionStarting spiral scanning, and staring by turning on beacon light at the end B;
scanning an uncertain region by an Archimedes spiral by using A3-A1 as a step pitch and T3-T1 as the dwell time of each step, and scanning the uncertain region to the outermost end in a reverse inward mode and to the innermost end in a reverse mode;
if the acquisition is not successful after three round trips of scanning, the step distance A3 is A1-A2, the dwell time T3 of each step is T1+ T2, and the scanning is started again;
if the acquisition is not successful after three round trips are scanned again, the step distance A3 is A1-2A 2, the dwell time T3 of each step is T1+ 2T 2, and the scanning is started for the third time;
and if the scanning is not successfully captured after the third scanning round trip, sending a scanning and capturing failure feedback signal to wait for the upper computer to respond.
In the method for building a link of a spatial laser communication terminal, the enabling of the two-end capture, the fine tracking start and the correction error correction of the end a and the end B comprises:
when the A-end beacon light covers the B-end, the B-end receives the beacon light, and the tracking detector measures the offset delta theta of the light spot central point at the calibrated tracking central position BZ And Δ θ BX ；
The B-end actuating mechanisms respectively adjust azimuth angles theta' BZ ＝θ BZ +Δθ BZ And a pitch angle θ' BX ＝θ BX +Δθ BX Completing the capture;
at the moment, the beacon light of the B end covers the A end, the A end receives the beacon light, and the tracking detector measures the offset delta theta of the light spot central point at the calibrated tracking central position AZ And Δ θ AX ；
The A-end actuating mechanisms respectively adjust azimuth angles theta' AZ ＝θ AZ +Δθ AZ And a pitch angle θ' AX ＝θ AX +Δθ AX Completing the capture;
at the moment, the centers of the beacon light spots at the two ends are both positioned at the tracking center position calibrated by the target end tracking camera, the executing mechanism maintains the light spots at the two ends at the tracking center position, and the A end corrects the error theta AZD ＝Δθ AZ ，θ AXD ＝Δθ AX Correction error theta at B terminal BZD ＝Δθ BZ ，θ BXD ＝Δθ BX 。
In the method for establishing a link of a space laser communication terminal, the step of enabling the signal light to enter a communication view field and establishing a laser communication link includes: the double ends open signal light, and the signal light enters a communication view field; and establishing a laser communication link and starting communication.
In the embodiments of the present invention, only a part of the components may be shown for clarity and simplicity, but those skilled in the art can understand that the present invention may add required components or components according to the needs of a specific scenario. Furthermore, features from different embodiments of the invention may be combined with each other, unless otherwise indicated. For example, a feature of the second embodiment may be substituted for a corresponding or functionally equivalent or similar feature of the first embodiment, and the resulting embodiments are likewise within the scope of the disclosure or recitation of the present application.
The terms "identical", "equal" and the like in the context of the present invention do not mean that the two values are absolutely equal, but allow a certain reasonable error, that is, the terms also cover "substantially identical", "substantially equal" and "substantially equal". By analogy, in the present invention, the terms "perpendicular", "parallel" and the like in the directions of the tables also cover the meanings of "substantially perpendicular", "substantially parallel".
The numbering of the steps of the methods of the present invention does not limit the order of execution of the steps of the methods. Unless specifically stated, the method steps may be performed in a different order.
Claims (6)
1. A link establishment method for a space laser communication terminal comprises the following steps: step S1: initializing the configuration;
step S2: the A end completes pre-pointing adjustment according to the position, the posture and the position of the target end of the A end; the B terminal completes pre-pointing adjustment according to the position of the home terminal, the posture of the home terminal and the position of the target end;
step S3: scanning and capturing the end A, and staring the end B;
step S4: enabling the A end and the B end to carry out double-end capture, fine tracking and starting, and correcting a correction error;
step S5: and the signal light enters a communication view field to establish a laser communication link.
2. The method for building a link of a space laser communication terminal according to claim 1, wherein the step S1 comprises:
step S1-1: initializing parameters;
step S1-2: and setting a terminal installation angle.
3. The method for building a link of a spatial laser communication terminal according to claim 1, wherein the step S2 includes:
step S2-1: the terminal A and the terminal B respectively acquire self coordinates, postures and target coordinates under a WGS coordinate system;
step S2-2: the A end and the B end are respectively converted into a terminal coordinate system from a WGS coordinate system;
step S2-3: the terminal A and the terminal B respectively calculate a two-dimensional pointing angle of a local terminal pointing target under a terminal coordinate system;
step S2-4: the A end and the B end respectively finish pre-pointing.
4. The method for building a link of a spatial laser communication terminal according to claim 1, wherein the step S3 includes:
step S3-1: turning on a beacon light;
step S3-2: and the end A scans according to the uncertain area, and the end B performs staring.
5. The method for building a link of a spatial laser communication terminal according to claim 1, wherein the step S4 includes:
step S4-1: the end A and the end B finish the capture;
step S4-2: updating the error correction parameters;
step S4-3: the signal light is turned on.
6. The method for building a link of a spatial laser communication terminal according to claim 1, wherein the step S5 includes:
step S5-1: signal light enters a communication field of view;
step S5-2: and establishing a laser communication link and starting communication.
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| CN202210635446.6A CN115037372A (en) | 2022-06-06 | 2022-06-06 | Link establishment method for space laser communication terminal |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116647280A (en) * | 2023-06-18 | 2023-08-25 | 蓝星光域(上海)航天科技有限公司 | Chain building method of space laser communication terminal |
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2022
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116647280A (en) * | 2023-06-18 | 2023-08-25 | 蓝星光域(上海)航天科技有限公司 | Chain building method of space laser communication terminal |
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