CN115123583A

CN115123583A - Autonomous orbit control method, device and system in large-scale constellation

Info

Publication number: CN115123583A
Application number: CN202210968227.XA
Authority: CN
Inventors: 谢涛
Original assignee: Beijing Commsat Technology Development Co Ltd
Current assignee: Beijing Commsat Technology Development Co Ltd
Priority date: 2022-08-12
Filing date: 2022-08-12
Publication date: 2022-09-30

Abstract

The disclosure relates to an autonomous orbit control method, device and system in a large-scale constellation. The method comprises the following steps: acquiring a deviation range, a preset track parameter, an adjustment amount and an adjustment amount threshold, wherein the deviation range is used for indicating the allowable deviation of the track parameter of the aircraft and the preset track parameter, and the adjustment amount comprises at least one of adjustment data, adjustment time and adjustment times of the track parameter; determining a deviation value between the current track parameter and the preset track parameter and an accumulated adjustment amount in a period; if the deviation value is not within the deviation range, adjusting the track operation; and if the accumulated adjustment amount is larger than or equal to the adjustment amount threshold value, the current orbit is operated. According to the technical scheme, orbit control can be performed from a large-scale constellation angle, and the risk of satellite falling is reduced.

Description

Autonomous orbit control method, device and system in large-scale constellation

Technical Field

The present disclosure relates to the field of communications technologies, and in particular, to a method, device, and system for autonomous orbit control in a large-scale constellation.

Background

A Low Earth orbit satellite (LEO) system refers to a large satellite system composed of a plurality of satellites and capable of performing real-time information processing, wherein the distribution of the satellites is called a satellite constellation. Since the low earth orbit satellites are not synchronized with the earth, the constellation and the relative positions of the satellites are constantly changing. To facilitate management and real-time communication of a multi-satellite system, the satellites need to be connected to ground gateway stations.

Since there is discontinuous communication between the gateway stations and the low earth orbit satellites, autonomous orbit control is required for the satellites. The current autonomous orbit control technology only faces to the behavior of a single satellite, autonomous orbit control cannot be realized from the angle of a low-orbit satellite system, and satellite falling is easily caused. Therefore, an autonomous orbit control method that can be considered from the viewpoint of a low-earth orbit satellite network is urgently needed.

Disclosure of Invention

The invention provides an autonomous orbit control method and equipment in a large-scale constellation, and aims to solve the problems that autonomous orbit control cannot be realized from the angle of a low-orbit satellite system and a satellite falls easily because an autonomous orbit control technology in the prior art only faces to the behavior of a single satellite.

In a first aspect, an embodiment of the present disclosure provides an autonomous trajectory control method in a large-scale constellation, including:

acquiring a deviation range, a preset track parameter, an adjustment amount and an adjustment amount threshold, wherein the deviation range is used for indicating the allowable deviation of the track parameter of the aircraft and the preset track parameter, and the adjustment amount comprises at least one of adjustment data, adjustment time and adjustment times of the track parameter;

determining a deviation value between the current track parameter and the preset track parameter and an accumulated adjustment amount in a period;

if the deviation value is not within the deviation range, adjusting the running track;

and if the accumulated adjustment amount is larger than or equal to the adjustment amount threshold value, the current orbit is operated.

Further, the determining a deviation value between the current track parameter and the preset track parameter includes:

if the track parameter is a parameter, calculating a deviation value between the current track parameter and the preset track parameter;

if the track parameters are at least two parameters, calculating the deviation value between the current track parameter corresponding to each track parameter and the preset track parameter corresponding to each track parameter respectively.

Further, if the deviation value is not within the deviation range, adjusting the operation track includes:

when the track parameter is at least two parameters and at least one of the following conditions is met, adjusting the running track:

if each track parameter has a corresponding deviation range, the deviation value corresponding to at least one track parameter is not within the deviation range corresponding to the track parameter,

if each track parameter has a corresponding deviation range, the deviation values corresponding to a plurality of track parameters are not within the deviation ranges corresponding to the track parameters,

if a deviation range is shared by a plurality of track parameters, the weighted sum of deviation values corresponding to the plurality of track parameters is not in the deviation range.

Further, the adjustment amount includes:

and accumulating time corresponding to the pulse width signal, wherein the pulse width signal is used for controlling the working time of the propeller.

Further, the method further comprises:

the accumulated time of the pulse width signal satisfies the following conditions:

or

，

Wherein T1 … … Tn indicates the turn-on time of the pulse width signal each time,

……

the angle between the propeller pointing direction and the track tangent direction at T1 … … Tn is indicated, respectively.

Further, the deviation value includes:

the variance of the difference between the current orbit parameter and the preset orbit parameter, or the absolute value of the difference between the current orbit parameter and the preset orbit parameter.

Further, the cycle includes:

a predetermined time period, or a time period generated by the discrimination condition.

Further, the preset time period includes: fraction or integral multiple of the track period or a preset fixed value;

the time period generated by the discrimination condition includes: a time period in which the time point of the last communication with the gateway station is a starting point and the time point of the next communication with the gateway station is an ending point.

Further, the method further comprises:

and after the period is ended, sending a feedback signaling to the gateway station.

Further, the feedback signaling includes one or more of the following information:

information on whether the adjustment threshold is reached, an actual adjustment, a propeller working record, and an accumulated time of the pulse width signal.

Further, the method further comprises:

transmitting a request signaling for track adjustment to said gateway station over a communication link with said gateway station during one of said periods when the following conditions are met,

the track adjustment is triggered by the track parameter X1 … … Xm, and after the accumulated adjustment amount of the track adjustment reaches the adjustment amount threshold,

the deviation value between the track parameter Y1 … … Yn and the corresponding preset track parameter exceeds the corresponding deviation range,

wherein m and n are integers greater than or equal to 1, and the track parameter X1 … … Xm is different from the track parameter Y1 … … Yn.

In a second aspect, an embodiment of the present disclosure provides an autonomous orbit control method in a large-scale constellation, including:

the method comprises the steps of sending a deviation range, preset track parameters, an adjustment amount and an adjustment amount threshold value, wherein the deviation range is used for indicating the allowable deviation of the track parameters of the aircraft and the preset track parameters, and the adjustment amount comprises at least one of adjustment data, adjustment time and adjustment times of the track parameters;

the aircraft is used for determining a deviation value between the current orbit parameter and the preset orbit parameter and an accumulated adjustment amount in a period;

Further, the preset orbit parameters comprise one or more; and the number of the deviation ranges is less than or equal to the number of the preset track parameters.

Further, the adjustment amount includes:

the accumulated time of the pulse width signal, wherein the pulse width signal is used for controlling the working time of the propeller.

Further, the cycle includes:

Further, the preset time period or the non-preset time period generated by the determination condition includes:

the preset time period comprises fraction or integral multiple of the track period;

the non-preset time period comprises a time period taking the time point of last communication with the gateway station as a starting point and taking the time point of next communication with the gateway station as an ending point.

Further, the method further comprises:

and after the period is ended, receiving feedback signaling.

information whether the adjustment amount threshold is reached, an actual adjustment amount, a propeller working record and an accumulated time of the pulse width signal.

Further, the method further comprises:

and generating one or more of a deviation range, a preset orbit parameter and an adjustment threshold value based on the feedback signaling.

Further, the method further comprises:

request signaling from the aircraft to proceed with orbit adjustment is received within a period.

In a third aspect, an embodiment of the present disclosure provides an autonomous trajectory controlled aircraft in a large-scale constellation, including: the system comprises a transceiving module, a satellite-borne computer and a propeller;

the receiving and sending module is configured to obtain one or more of a deviation range, a preset track parameter, an adjustment amount and an adjustment amount threshold, where the deviation range is used to indicate an allowable deviation between a track parameter of an aircraft and the preset track parameter, and the adjustment amount includes at least one of adjustment data, adjustment time and adjustment times of the track parameter;

the on-board computer is used for calculating one or more of a deviation value between the current orbit parameter and the preset orbit parameter and an accumulated adjustment amount in a period,

and if the deviation value is not within the deviation range, the on-board computer outputs an execution command to the propeller.

Further, the method may further include an accumulation controller,

the accumulation controller is used for reading and storing the working time of the propeller;

and the accumulation controller is also used for outputting a prohibition signal to the propeller.

In a fourth aspect, the present embodiment discloses an autonomous orbit control gateway station in a large-scale constellation, including:

the system comprises a sending module, a receiving module and a processing module, wherein the sending module is used for sending one or more of a deviation range, a preset track parameter, an adjustment amount threshold value and an adjustment permission signaling, the deviation range is used for indicating the allowable deviation of the track parameter of the aircraft and the preset track parameter, and the adjustment amount comprises at least one of adjustment data, adjustment time and adjustment times of the track parameter;

Further, the method further comprises:

the device comprises a receiving module and a calculating module;

wherein the receiving module is configured to receive a signal from the aircraft;

the calculation module is used for calculating one or more of the deviation range, the preset track parameter and the adjustment amount threshold.

In a fifth aspect, an embodiment of the present disclosure discloses an autonomous trajectory control system in a large-scale constellation, including:

gateway stations and aircraft;

the aircraft is used for acquiring a deviation range, a preset orbit parameter, an adjustment amount and an adjustment amount threshold value, wherein the deviation range is used for indicating the allowable deviation of the orbit parameter of the aircraft and the preset orbit parameter, and the adjustment amount comprises at least one of adjustment data, adjustment time and adjustment times of the orbit parameter;

the aircraft is also used for determining a deviation value between the current orbit parameter and the preset orbit parameter and an accumulated adjustment amount in a period;

the aircraft is further used for adjusting the orbital motion if the deviation value is not within the deviation range;

the aircraft is further configured to operate on the current track if the accumulated adjustment amount is greater than or equal to the adjustment amount threshold;

the gateway station is configured to transmit one or more of the deviation range, the preset orbit parameter, and the adjustment amount threshold.

According to the method, the gateway station only needs to calculate the configuration parameters for one aircraft and send the configuration parameters to the aircraft in one-time communication, and the aircraft can complete track adjustment under the condition that the gateway station is not covered on one hand, and can control the track adjustment within a limited range on the other hand, so that the aircraft is prevented from falling due to large position change of the track adjustment. Thus, one gateway station can efficiently manage a large number of aircraft.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

Other features, objects, and advantages of the present disclosure will become more apparent from the following detailed description of non-limiting embodiments when taken in conjunction with the accompanying drawings. In the drawings:

fig. 1 shows a schematic diagram of a low earth orbit satellite constellation according to an embodiment of the present disclosure;

FIG. 2 shows a satellite system architecture diagram in accordance with an embodiment of the present disclosure;

FIG. 3 shows a block diagram of a track control device according to an embodiment of the present disclosure;

FIG. 4 shows a schematic diagram of a pulse width signal according to an embodiment of the present disclosure;

FIG. 5 shows a block diagram of a track control device according to an embodiment of the present disclosure;

FIG. 6 shows a schematic of a track control system according to an embodiment of the present disclosure;

FIG. 7A shows a timeline diagram of track control according to an embodiment of the present disclosure;

FIG. 7B shows a time axis schematic of a propeller output according to an embodiment of the present disclosure;

fig. 7C shows a time axis schematic of adjustment amount monitoring according to an embodiment of the present disclosure.

Detailed Description

Hereinafter, exemplary embodiments of the present disclosure will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily implement them. Also, for the sake of clarity, parts not relevant to the description of the exemplary embodiments are omitted in the drawings.

In the present disclosure, it is to be understood that terms such as "including" or "having," etc., are intended to indicate the presence of the disclosed features, numbers, steps, actions, components, parts, or combinations thereof, and do not preclude the possibility that one or more other features, numbers, steps, actions, components, parts, or combinations thereof are present or added.

It should be further noted that the embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict. The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

Fig. 1 shows a schematic diagram of a low earth orbit satellite constellation according to an embodiment of the disclosure. As shown in fig. 1, the low-orbit satellite constellation is exemplified by a Walker Polar constellation, which is composed of a plurality of orbits 101-a, each orbit running a plurality of low-orbit satellites 101, the orbits meeting near north and south poles. Low earth orbit satellites provide wireless access to an area of the earth through a communication link. Where a single satellite remains mobile relative to the ground and thus the area covered by its communication link changes over time.

One of the characteristics of the low-earth-orbit satellite system is that a large number of satellites are required to form a satellite network covering the whole world. The increase of the number of satellites brings higher orbit control pressure, and due to discontinuous communication between the satellites and the ground gateway station, during the period that the satellites cannot communicate with the gateway station, the autonomous orbit control behaviors of the satellites easily cause excessive orbit adjustment, so that the orbits among a plurality of satellites interfere with each other, and the problem of satellite falling is caused.

The present disclosure is made to solve, at least in part, the problems in the prior art that the inventors have discovered.

Fig. 2 shows a satellite system architecture schematic according to an embodiment of the present disclosure. As shown in fig. 2, the satellite system mainly includes:

low earth satellites

101, 102, ground terminals 103 and ground gateway stations 104. The low earth satellite 101 may be in two-way communication with the ground terminal 103 via a service link. The

low earth satellites

101, 102 communicate with each other via inter-satellite links, wherein a single low earth satellite remains mobile with respect to the ground and the area covered by its communication link changes over time. Therefore, at some times, the terrestrial terminal 103 may be provided with wireless access services by the low-earth satellite 101, and at other times, by the low-earth satellite 102. The ground gateway station 104 may be in two-way communication with the low earth orbit satellite 101 via a feeder link. The ground gateway station 104 provides remote measurement and control services of the low-

orbit satellites

101 and 102, communicates and controls the on-board computer of the low-orbit satellite, and realizes services required by the operation of the low-orbit satellite such as temperature management, attitude adjustment and positioning. The ground gateway station 104 is also connected to a ground network and is capable of communicating with networks such as the Internet, PSTN, etc. The carrier frequency of the communication link between the low earth satellite 101 and the ground terminal 103 and the ground gateway station 104 may be a wireless signal in KA, KU, V band, and the low earth satellite 101 transmits and receives the wireless signal to the ground by beam forming implemented by a phased array antenna array.

It should be understood that the number of low earth satellites, ground terminals, ground gateway stations in fig. 2 is merely illustrative. There may be any number of low earth orbit satellites, ground terminals, ground gateway stations, as desired.

Fig. 3 illustrates a block diagram of a track control device according to an embodiment of the present disclosure.

As shown in fig. 3, the low earth orbit satellite 101 includes an on-board computer 1011, a thruster 1012, a target orbit storage 1013, an inter-satellite communication interface 1014, a gateway station communication interface 1015, and a positioning module 1016. Wherein the inter-satellite communication interface 1014 and the gateway station communication interface 1015 may be independent transceiving interfaces or a same set of transceiving interfaces; the target track storage 1013 may be configured in the on-board computer 1011 or may be a separate device.

During satellite operation, the gateway station communication interface 1015 receives information from the gateway station 104, which may be TT & C packets, TT & C being telemetry, track and command, while operating within communication range of the ground gateway station 104. The gateway station communication interface 1015 sends TT & C packets to the target orbit memory 1013, and the target orbit memory 1013 sends preset orbit parameters, which may also be referred to as the number of orbits, which may be one or more of the conventional six parameters (orbit tilt angle, elevation longitude, eccentricity, argument of near-day, semi-major axis, and mean-angle of approach at a specified epoch) to the on-board computer 1011. The on-board calculator 1011 also receives real-time coordinates from the positioning module 1016, and the positioning module 1016 may be a GNSS positioning module or a beidou navigation positioning module.

The satellite-borne computer 1011 obtains a pulse width signal of the working of the thruster 1012 through calculation, and finally sends the pulse width signal to the thruster 1012 to control the thruster 1012 to apply a thrust to the center of mass of the satellite 101, thereby completing the whole orbit adjustment process. If the satellite needs attitude control, a thrust is required to be applied to the non-center of mass, and the attitude adjustment process is further completed.

In this embodiment, the satellite 101 completes reception of TT & C packets within the area covered by the ground gateway station 104, the TT & C packets being a set of control parameters, rather than instructions directly executed by the satellite 101. Thereafter, the determination of the orbital adjustments is controlled in real time by the on-board computer 1011, so that the timing at which the satellite 101 needs to initiate orbital adjustment operations is random, and orbital adjustments of the satellite 101 may be made without the knowledge of the ground gateway 104. In this case, on the one hand, the decision of the on-board computer 1011 may be erroneous due to a fault, and on the other hand, the satellite 101 cannot report the record of autonomous orbit control until it next accesses the ground gateway station 104, which easily threatens the orbit security of the low-orbit satellite system.

One embodiment of the present disclosure is: the satellite 101 obtains a deviation range and a preset orbit parameter, wherein the deviation range is used for indicating an allowable deviation of the orbit parameter of the satellite from the preset orbit parameter. The deviation range and the preset orbit parameter obtained by the satellite 101 can be from the ground gateway station 104, can be from other satellites such as 102, and can also be from system presetting; wherein, the system presetting refers to that the satellite is preset with various data before transmission. When the deviation value between the current orbit parameter of the satellite 101 and the preset orbit parameter exceeds the deviation range, the satellite 101 may perform orbit adjustment according to an orbit adjustment algorithm in the on-board computer. When the deviation value between the current orbit parameter of the satellite 101 and the preset orbit parameter is smaller than the deviation range, the satellite 101 can autonomously determine whether to perform orbit adjustment.

Further, the satellite 101 also obtains an adjustment threshold, which describes the amount of adjustment the satellite is allowed to make during an orbit control period. The adjustment threshold obtained by the satellite 101 may be from the ground gateway station 104, may be from other satellites such as 102, or may be from a system preset; wherein, the system presetting refers to that the satellite is preset with various data before transmission. During one orbit control period, when the adjustment amount cumulatively performed by the satellite 101 is less than or equal to the adjustment amount threshold, the satellite 101 may perform orbit adjustment according to the orbit control algorithm in the on-board computer 1011. When the adjustment amount cumulatively performed by the satellite 101 is larger than the adjustment amount threshold, the satellite 101 prohibits the orbit adjustment. By the method, the low-orbit satellite is limited by the deviation range and the adjustment threshold when in orbit adjustment, so that the orbit adjustment executed by the satellite is limited within the time range of not communicating with the ground gateway station, and the probability of threatening the orbit safety is reduced.

In one embodiment, the deviation range may be configured for only one track parameter, and table 1 is an example:

TABLE 1

At this time, the satellite 101 obtains the actual semi-major axis of the current orbit via the positioning module 1016

To obtain the actual semi-major axis

And a predetermined semi-major axis

Variance between:

the on-board computer 1011 can determine whether to perform orbit adjustment according to the following formula:

in one embodiment, the deviation range may be configured for a plurality of track parameters, table 2 being an example:

TABLE 2

And actual track inclination

To obtain the actual semi-major axis

And a predetermined semi-major axis

Variance between and actual track inclination

Inclination angle with preset track

Variance between:

the on-board computer 1011 may determine whether to perform orbit adjustment according to the following formula:

or

Or

Wherein

，

The weighting coefficients of (a) are,

is the integrated variance value threshold.

In one embodiment, the deviation value may be calculated using an absolute value instead of the variance.

In one embodiment, the satellite 101 obtains an adjustment threshold

Adjusting the threshold value

Is the maximum amount of adjustment that can be made by the satellite 101 during one orbit control period. As shown in FIG. 3, the on-board computer 1011 outputs a pulse width signal to the propeller 1012 to control the operation time of the propeller 1012, and the specific signal is shown in FIG. 4. In fig. 4, in one orbit control period, the signals output by the space computer include a plurality of non-zero discrete digital signals and null signals with different widths, and fig. 4 includes a total of three non-zero signals with time durations T1, T2, and T3, respectively. Therefore, the accumulated operating time period is:

when the adjustment amount is the pulse width signal output time, the adjustment amount threshold is the maximum value of the pulse width signal accumulated output time. The on-board computer 1011 performs orbit adjustment according to the following formula:

in one embodiment, the propeller 1012 is an electronic propeller, and the jet direction of the propeller 1012 can be freely controlled by the on-board computer 1011, so as to realize arbitrary satellite three-axis attitude control. Since the three-axis attitude control only changes the attitude of the satellite in the two-axis control, but does not change the orbit of the satellite, the pulse width control signals output by the on-board computer 1011 will act on the three-axis directions. Therefore, the adjustment amount threshold is used only for controlling one axis having an influence on the trajectory. The calculation formula of the accumulated working time is as follows:

wherein

Is the effective working time of the thruster in the direction of the track, for example:

wherein

At T1, pusher 1012 points at an angle to the tangent of the track, and so on,

at T2, pusher 1012 points at an angle to the tangent of the track, etc. Because the included angle between the direction of the propeller 1012 and the tangential direction of the track is controlled by the satellite-borne computer 1011, the satellite-borne computer 1011 can calculate the equivalent action time of any track adjustment.

In one embodiment, the cumulative number of operations of the pusher 1012 may be used instead of the cumulative operation time, and the adjustment threshold may mean the maximum number of operations of the pusher 1012 allowed in a cycle.

In one embodiment, the adjustment amount is a track parameter, and the adjustment threshold is a maximum value of an accumulated change of the track parameter, such as a change of a track tilt angle, a change of a semi-major axis, and the like.

Fig. 5 shows a block diagram of a track control device according to an embodiment of the present disclosure. As shown in fig. 5, the satellite is provided with a separate accumulation controller 1017. The accumulation controller 1017 may receive the adjustment amount threshold from the gateway station communication interface 1015, read the operating time from the pusher 1012, and determine whether to output the prohibition signal to the pusher 1012 according to the adjustment amount threshold. When the propeller 1012 receives the disable signal, the propeller 1012 stops working regardless of whether the on-board computer 1011 outputs the execution command.

In one embodiment, the accumulation controller 1017 receives the adjustment threshold via the on-board computer 1011 or the target track storage 1013.

In one embodiment, the track control period comprises a preset time period, such as a time period defined in the form of a fraction or integer multiple of the track period, or other fixed value that is preset.

In one embodiment, the orbit control period includes a non-specified time generated by the criteria, such as a time point when the satellite 101 last communicated with the ground gateway station 104 as a starting point and a time point when communication with the ground gateway station 104 is next established as an ending point.

In one embodiment, the satellite 101 sends feedback signaling to the ground gateway station 104 after the orbit control period is over. The feedback signaling includes one or more of the following information: whether the instruction of the adjustment amount threshold value is reached, the actual adjustment amount, the working record of the propeller and the accumulated time of the pulse width signal are touched. After receiving the signaling, the ground gateway station 104 analyzes the orbit adjustment condition of the satellite to generate the parameter configuration required to be used for adjusting the satellite orbit.

In one embodiment, the satellite reaches the adjustment threshold at 101 before the end of the orbit control period, and is therefore prohibited from using the thrusters. If the satellite 101 determines that another orbital parameter, which is different from the orbital parameter that initiated the orbital control, exceeds its corresponding deviation range, the satellite 101 initiates an inter-satellite link for establishing a communication link with the ground gateway station 104 and sends a request signaling to the ground gateway station 104 to proceed with the orbital adjustment.

In one embodiment, the ground gateway station 104 transmits one or more of a deviation range indicating an allowable deviation of the orbit parameter of the satellite from the preset orbit parameter, a preset orbit parameter, and an adjustment amount threshold including at least one of adjustment data, adjustment time, and adjustment times of the orbit parameter.

In one embodiment, the ground gateway station 104 transmits one or more of the pre-defined orbit parameters, and the number of transmitted deviation ranges is less than or equal to the number of the pre-defined orbit parameters.

In one embodiment, the ground gateway station 104 receives feedback signaling from the satellite 101.

In one embodiment, the ground gateway station 104 receives signaling from the satellite 101 requesting that the orbit adjustment be continued.

FIG. 6 shows a track control system schematic according to an embodiment of the present disclosure. As shown in fig. 6, the system includes a satellite 101, a ground gateway station 104-1 and a ground gateway station 104-2. The satellite 101 obtains configuration parameters including one or more of a deviation range, a preset orbit parameter, and an adjustment threshold via the ground gateway station 104-1. In the orbit control period, the satellite 101 calculates an upper limit and a lower limit of the orbit deviation from the deviation range, and performs the orbit control when the satellite exceeds the upper limit or the lower limit.

In fig. 6, the upper and lower orbit deviation limits are shown schematically, and the actual orbit deviation boundary is a three-dimensional space.

7A-7C show timing diagrams for trajectory control according to embodiments of the present disclosure. As shown in fig. 7A, at time Tx, the orbit of the satellite 101 exceeds the orbit deviation lower limit. As shown in fig. 7B, the on-board computer 1011 outputs a pulse width signal at time Tx, and the thruster 1012 operates under the control of the pulse width signal to bring the deviation value between the orbit of the satellite 101 and the preset orbit back to the deviation range.

Further, as shown in fig. 7C, the on-board computer 1011 or the integration controller 1017 records the integrated adjustment amount and determines that it is smaller than the adjustment amount threshold, so that the satellite is not prohibited from continuing the orbit adjustment.

The track parameters and adjustment amounts described in all the above embodiments are only examples, and the same method may be performed using other parameters.

The method described in the above embodiment is not limited to use in low earth orbit satellite systems, and other aircraft may use the method described in the above embodiment.

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. 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.

The units or modules described in the embodiments of the present disclosure may be implemented by software or by programmable hardware. The units or modules described may also be provided in a processor, and the names of the units or modules do not in some cases constitute a limitation of the units or modules themselves.

As another aspect, the present disclosure also provides a computer-readable storage medium, which may be a computer-readable storage medium included in the electronic device or the computer system in the above embodiments; or it may be a separate computer readable storage medium not incorporated into the device. The computer readable storage medium stores one or more programs for use by one or more processors in performing the methods described in the present disclosure.

The foregoing description is only exemplary of the preferred embodiments of the disclosure and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the invention in the present disclosure is not limited to the specific combination of the above-mentioned features, but also encompasses other embodiments in which any combination of the above-mentioned features or their equivalents is possible without departing from the inventive concept. For example, the above features and (but not limited to) the features disclosed in this disclosure having similar functions are replaced with each other to form the technical solution.

Claims

1. An autonomous orbit control method in a large-scale constellation, comprising:

2. The method of claim 1, wherein determining the deviation value between the current track parameter and the preset track parameter comprises:

if the track parameters are at least two parameters, calculating deviation values between the current track parameters corresponding to the track parameters and the preset track parameters corresponding to the track parameters respectively.

3. The method of claim 1 or 2, wherein said adjusting the trajectory if the deviation value is not within the deviation range comprises:

if each track parameter has a corresponding deviation range, the deviation value corresponding to at least one track parameter is not in the deviation range corresponding to the track parameter;

if each track parameter has a corresponding deviation range, the deviation values corresponding to a plurality of track parameters are not in the deviation ranges corresponding to the track parameters;

4. The method of claim 1, wherein the adjusting the amount comprises:

5. The method of claim 4, further comprising:

or

，

……

6. The method of claim 1 or 2, wherein the deviation value comprises:

7. The method of claim 1, wherein the period comprises:

8. The method of claim 7,

the preset time period includes: fraction or integral multiple of the track period or a preset fixed value;

9. The method of claim 8, further comprising:

10. The method of claim 9, wherein the feedback signaling comprises one or more of the following information:

and whether the adjustment amount threshold value is reached, the actual adjustment amount, the propeller working record and the accumulated time corresponding to the pulse width signal.

11. The method of claim 10, further comprising:

12. An autonomous orbit control method in a large-scale constellation, comprising:

13. The method of claim 12, wherein the preset trajectory parameters include one or more; and the number of the deviation ranges is less than or equal to the number of the preset track parameters.

14. The method of claim 12, wherein the adjusting the amount comprises:

15. The method of claim 12, wherein the period comprises:

16. The method of claim 15,

17. The method of claim 12, further comprising:

and after the period is ended, receiving a feedback signaling.

18. The method of claim 17, wherein the feedback signaling comprises one or more of the following information:

and whether the adjustment quantity threshold value is reached, the actual adjustment quantity, the working record of the propeller and the accumulated time corresponding to the pulse width signal.

19. The method of claim 17 or 18, further comprising:

20. The method of claim 12, further comprising:

within the period, request signaling for track adjustment is received from the aircraft.

21. An autonomous orbit control vehicle in a large-scale constellation, comprising:

the system comprises a transceiving module, a satellite-borne computer and a propeller;

the receiving and sending module is used for acquiring one or more of a deviation range, a preset track parameter, an adjustment amount and an adjustment amount threshold, wherein the deviation range is used for indicating the allowable deviation of the track parameter of the aircraft and the preset track parameter, and the adjustment amount comprises at least one of adjustment data, adjustment time and adjustment times of the track parameter;

22. The aircraft of claim 21, further comprising: an accumulation controller for controlling the amount of accumulated energy,

23. An autonomous orbit control gateway station in a large-scale constellation, comprising:

24. The gateway station of claim 23, further comprising:

the device comprises a receiving module and a calculating module;

the calculation module is used for calculating one or more of the deviation range, the preset track parameter and the adjustment threshold.

25. An autonomous orbit control system in a large-scale constellation, comprising:

gateway stations and aircraft;

the aircraft is used for acquiring a deviation range, a preset orbit parameter, an adjustment amount and an adjustment amount threshold, wherein the deviation range is used for indicating the allowable deviation of the orbit parameter of the aircraft and the preset orbit parameter, and the adjustment amount comprises at least one of adjustment data, adjustment time and adjustment times of the orbit parameter;

the aircraft is also used for determining a deviation value between the current track parameter and the preset track parameter and the accumulated adjustment amount in the period;