CN116182782A - Ka frequency band inter-satellite link pointing angle calculation and verification method - Google Patents

Ka frequency band inter-satellite link pointing angle calculation and verification method Download PDF

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CN116182782A
CN116182782A CN202310197260.1A CN202310197260A CN116182782A CN 116182782 A CN116182782 A CN 116182782A CN 202310197260 A CN202310197260 A CN 202310197260A CN 116182782 A CN116182782 A CN 116182782A
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李菊
汪莹
李春萍
陈龙
陈克寒
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Shanghai Spaceflight Institute of TT&C and Telecommunication
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Abstract

The invention provides a Ka frequency band inter-satellite link pointing angle calculation and verification method, which comprises the following steps: calculating a lower pointing vector of the low orbit satellite antenna coordinate system through conversion from the body coordinate system to the antenna coordinate system; calculating a pointing angle (off-axis angle, azimuth angle) under a low orbit satellite antenna coordinate system; implementing the aforementioned pointing angle algorithm in DSP hardware; simultaneously, the STK simulates and calculates off-axis angles and azimuth angles of the low-orbit satellite pointing to the medium-orbit satellite; and finally comparing the STK simulation result with the DSP hardware realization result to obtain a conclusion. The invention adopts a simplified position and speed recurrence algorithm to calculate the satellite link pointing angle between Ka frequency bands in real time, thereby completing the space beam pointing between the low orbit satellite and the medium orbit satellite. Through DSP hardware realization and STK software simulation, it is verified that the Ka frequency band inter-satellite pointing angle algorithm has low hardware realization complexity and low hardware resource expense on the premise of ensuring pointing accuracy.

Description

Ka frequency band inter-satellite link pointing angle calculation and verification method
Technical Field
The invention relates to a pointing angle calculating and verifying method, in particular to a Ka frequency band inter-satellite link pointing angle calculating and verifying method.
Background
In recent years, with the global expansion of national interests, the construction requirements of the national day-based information network are increasingly urgent. The inter-satellite link provides guarantee for communicating satellites, realizing functions of space-based measurement and control, autonomous running of constellations and the like, and is an important basis for constructing a space-based information network. On the premise that communication parties of each inter-satellite link are successfully pointed to each other, because each satellite moves on the respective orbit, namely the position of the satellite on the orbit changes with time, on-satellite resources are limited, the communication frequency band is high, and the half-power beam width is narrow, on-satellite communication terminals are required to have the capability of resolving the inter-satellite pointing angle in real time and high precision on the premise of considering on-satellite processing complexity.
Disclosure of Invention
In order to solve the problems of relatively smaller on-board hardware resources, slower calculation speed, narrower half-power beam width of the Ka-band inter-satellite antenna, high requirement on pointing precision and the like, the invention provides a Ka-band inter-satellite link pointing angle calculation and verification method under the condition of considering the antenna pointing precision and the on-board resource utilization rate. The invention utilizes the time on the star, the satellite attitude and the GPS positioning orbit determination information, combines the satellite ephemeris information, adopts a simplified position and speed recurrence algorithm, and calculates the off-axis angle and the azimuth angle of the Ka frequency band inter-satellite antenna in real time to finish the inter-satellite link space beam pointing. The hardware is realized by adopting a DSP, and is compared with the simulation result of STK software, and the result shows that: after one hour of on-board recursion, the beam pointing angle error of the Ka frequency band inter-satellite antenna is in the order of 10-3 degrees, and the requirement of inter-satellite link establishment pointing precision is met.
In order to achieve the above purpose, the technical scheme of the invention is as follows: a Ka frequency band inter-satellite link pointing angle calculating and verifying method comprises the following steps:
s1: inputting six low-orbit satellite orbits under a J2000.0 inertial coordinate system;
s2: inputting six middle orbit satellite orbits under a J2000.0 inertial coordinate system;
s3: calculating a position and speed vector of the low-orbit satellite under the J2000.0 inertial coordinate system;
s4: calculating a position and speed vector of the middle orbit satellite in the J2000.0 inertial coordinate system;
s5: the simplified position speed algorithm recursively uses the position speed vector of the low-orbit satellite at the next moment;
s6: the position speed algorithm is simplified to recursively calculate a position speed vector of the middle orbit satellite at the next moment;
s7: the pointing vector from the low orbit satellite to the medium orbit satellite in the J2000.0 inertial coordinate system;
s8: calculating a pointing vector under a low-orbit satellite orbit coordinate system;
s9: calculating a pointing vector under a low-orbit satellite body coordinate system;
s10: calculating a pointing vector under a low-orbit satellite antenna coordinate system;
s11: calculating a pointing angle (off-axis angle, azimuth angle) under a low orbit satellite antenna coordinate system;
s12: DSP hardware implementation;
s13: STK simulation calculates off-axis angle and azimuth angle of the low orbit satellite pointing to the middle orbit satellite;
s14: the STK simulation is compared to the DSP hardware implementation.
Further, the inter-satellite link pointing angle is an angle for pointing to a middle orbit satellite in a low orbit satellite inter-satellite antenna coordinate system, and includes an off-axis angle and an azimuth angle.
Furthermore, the inter-satellite link pointing angle is Ka frequency band pointing angle, and the half-power wave beam width of the frequency band antenna is narrow and the pointing precision requirement is high.
Further, in steps S1 and S2, six orbits of the low-orbit and the medium-orbit satellites under the J2000.0 inertial frame are input, including an orbit semi-major axis (a), an orbit eccentricity (e), an orbit inclination angle (i), an ascending intersection point right ascent angle (Ω), a near-spot angular distance (ω), and a near-spot angle (M), and the data types are unsigned binary integer.
Further, in steps S3 and S4, the low-orbit and medium-orbit satellite position and velocity vectors under the J2000.0 inertial coordinate system are calculated, including X, Y, Z triaxial positions and velocities, and the data type is two' S complement.
Further, in steps S5 and S6, the position velocity vectors x1n.r and x2n.r of the low-orbit and medium-orbit satellites at the next moment are recursively calculated by using a simplified position velocity algorithm, and the simplified position velocity algorithm is recursively calculated for 10ms at intervals by using a first-order longgrid tower method.
Further, in step S7, the heading vector of the low-orbit satellite to the medium-orbit satellite in the J2000.0 inertial coordinate system is x2n.r-x1n.r.
Further, in step S8, a transformation matrix of the J2000.0 inertial coordinate system to the low-orbit satellite orbit coordinate system is calculated from the instantaneous root of the low-orbit satellite in the J2000.0 inertial coordinate system
Figure BDA0004107614390000031
Obtaining the pointing vector of the low orbit satellite orbit coordinate system as
Figure BDA0004107614390000032
Further, in step S9, a transformation matrix of the low-orbit satellite orbit coordinate system to the body coordinate system is calculated from the platform attitude angle
Figure BDA0004107614390000033
Obtaining the pointing vector of the low orbit satellite body coordinate system as +.>
Figure BDA0004107614390000034
Further, in step S10, a transformation matrix of the low-orbit satellite body coordinate system to the antenna coordinate system is calculated from the inter-satellite antenna coordinate system
Figure BDA0004107614390000035
Obtaining the pointing vector of the low orbit satellite antenna coordinate system as +.>
Figure BDA0004107614390000036
Further, in step S11, the off-axis angle in the low-orbit satellite antenna coordinate system
Figure BDA0004107614390000037
Azimuth ψ=atan2 (y, x).
Furthermore, the pointing angle calculation method is realized by the DSP on hardware, the high-speed calculation capability of the DSP is fully utilized, the rapid stepping of the position speed is completed, and further the continuous and accurate pointing angle calculation is completed.
Furthermore, the pointing angle calculation method adopts STK software simulation, and is compared with the result realized by DSP hardware, and the error magnitude of the off-axis angle and the azimuth angle is 10 -3 The degree meets the requirement of inter-satellite link establishment pointing precision.
Compared with the prior art, the invention has the following advantages and positive effects due to the adoption of the technical scheme:
1) The invention adopts simplified position and speed recurrence algorithm and is realized by DSP, thus realizing the advantages of small overhead of on-board hardware resources, high calculation speed and the like.
2) The inter-satellite link pointing angle calculation method provided by the invention realizes that the error of the hardware implementation of the wave beam pointing angle of the Ka-band inter-satellite antenna is 10 through the simulation comparison of DSP hardware and STK software -3 The degree magnitude meets the requirement of inter-satellite link establishment pointing precision.
Drawings
FIG. 1 is a general flow chart of a Ka-band inter-satellite link pointing angle calculation and verification method of the present invention;
FIG. 2 is a schematic diagram of off-axis angle and azimuth angle in an inter-satellite antenna coordinate system of a Ka-band inter-satellite link pointing angle calculation and verification method according to the present invention;
fig. 3 is an explanatory diagram of usage of DSP (SMJ 320C6701GLPW 14) program storage resources of a Ka-band inter-satellite link pointing angle calculation and verification method of the present invention.
Detailed Description
The invention will be further described with reference to the drawings and specific examples.
The present invention will be described in more detail below with reference to the accompanying drawings of embodiments of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, the embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
In order to solve the problems of relatively smaller on-board hardware resources, slower calculation speed, narrower half-power beam width of the Ka-band inter-satellite antenna, high requirement on pointing precision and the like, the invention provides a Ka-band inter-satellite link pointing angle calculation and verification method under the condition of considering the antenna pointing precision and the on-board resource utilization rate. The invention utilizes the time on the star, the satellite attitude and the GPS positioning orbit determination information, combines the satellite ephemeris information, adopts a simplified position and speed recurrence algorithm, and calculates the off-axis angle and the azimuth angle of the Ka frequency band inter-satellite antenna in real time to finish the inter-satellite link space beam pointing. The hardware is realized by adopting a DSP, and is compared with the simulation result of STK software, and the result shows that: after one hour of on-board recursion, the beam pointing angle error of the Ka frequency band inter-satellite antenna is in the order of 10-3 degrees, and the requirement of inter-satellite link establishment pointing precision is met.
In this embodiment, as shown in fig. 1, an overall flowchart of a Ka-band inter-satellite link pointing angle calculation and verification method includes the following steps:
s1: inputting six orbits of a low-orbit satellite (orbit height 500 km) under a J2000.0 inertial coordinate system;
s2: inputting six orbits of a middle orbit satellite (orbit height 20000 km) under a J2000.0 inertial coordinate system;
s3: calculating the position (X) of a low-earth satellite in the J2000.0 inertial coordinate system Low and low 、Y Low and low 、Z Low and low ) Speed (V) X is low 、V Y is low 、V Z is low ) A vector;
s4: calculating the position (X) of a mid-orbit satellite in the J2000.0 inertial coordinate system In (a) 、Y In (a) 、Z In (a) ) Speed (V) In X 、V In Y 、V In Z ) A vector;
s5: the position speed algorithm is simplified to recursively estimate the position speed vector of the low-orbit satellite at the next moment, and the recursion interval is 10ms;
s6: the position speed algorithm is simplified to recursively calculate the position speed vector of the middle orbit satellite at the next moment, and the recursion interval is 10ms;
s7: the pointing vector from the low orbit satellite to the medium orbit satellite in the J2000.0 inertial coordinate system;
s8: calculating a pointing vector under a low-orbit satellite orbit coordinate system;
s9: calculating a pointing vector under a low-orbit satellite body coordinate system;
s10: calculating a pointing vector under a low-orbit satellite antenna coordinate system;
s11: calculating the pointing angle (off-axis angle) of the low-orbit satellite antenna in the coordinate system
Figure BDA0004107614390000041
Azimuth angle->
Figure BDA0004107614390000042
)；
S12: DSP hardware implementation, device model SMJ320C6701GLPW14;
s13: STK simulation calculates off-axis angle and azimuth angle of the low orbit satellite pointing to the middle orbit satellite;
s14: the STK simulation is compared to the DSP hardware implementation.
Further, the inter-satellite link pointing angle is an angle for pointing to a middle orbit satellite in a low orbit satellite inter-satellite antenna coordinate system, and includes an off-axis angle and an azimuth angle.
Furthermore, the inter-satellite link pointing angle is Ka frequency band pointing angle, and the half-power wave beam width of the frequency band antenna is narrow and the pointing precision requirement is high.
Further, in steps S1 and S2, six orbits of the low-orbit and the medium-orbit satellites under the J2000.0 inertial frame are input, including an orbit semi-major axis (a), an orbit eccentricity (e), an orbit inclination angle (i), an ascending intersection point right ascent angle (Ω), a near-spot angular distance (ω), and a near-spot angle (M), and the data types are unsigned binary integer.
Further, in steps S3, S4, low and medium orbit satellite position velocity vectors, including the triaxial position X, Y, Z and velocity V, under the J2000.0 inertial coordinate system are calculated X 、V Y 、V Z The data type is two's complement.
Further, in steps S5 and S6, the position velocity vectors x1n.r and x2n.r of the low-orbit and medium-orbit satellites at the next moment are recursively calculated by using a simplified position velocity algorithm, and the simplified position velocity algorithm is recursively calculated for 10ms at intervals by using a first-order longgrid tower method.
Further, in step S7, the heading vector of the low-orbit satellite to the medium-orbit satellite in the J2000.0 inertial coordinate system is x2n.r-x1n.r.
Further, in step S8, a transformation matrix of the J2000.0 inertial coordinate system to the low-orbit satellite orbit coordinate system is calculated from the instantaneous root of the low-orbit satellite in the J2000.0 inertial coordinate system
Figure BDA0004107614390000051
Obtaining the pointing vector of the low orbit satellite orbit coordinate system as
Figure BDA0004107614390000052
Further, in step S9, a transformation matrix of the low-orbit satellite orbit coordinate system to the body coordinate system is calculated from the platform attitude angle
Figure BDA0004107614390000053
Obtaining the pointing vector of the low orbit satellite body coordinate system as +.>
Figure BDA0004107614390000054
Further, in step S10, a transformation matrix of the low-orbit satellite body coordinate system to the antenna coordinate system is calculated from the inter-satellite antenna coordinate system
Figure BDA0004107614390000055
Obtaining the pointing vector of the low orbit satellite antenna coordinate system as +.>
Figure BDA0004107614390000056
Further, in step S11, the off-axis angle in the low-orbit satellite antenna coordinate system is as shown in FIG. 2
Figure BDA0004107614390000057
Azimuth ψ=atan2 (y, x).
Furthermore, the pointing angle calculation method is realized by a DSP (SMJ 320C6701GLPW 14) on hardware, the use condition of program storage resources is as shown in figure 3, the high-speed calculation capability of the DSP is fully utilized, the rapid stepping of the position speed is completed, and further the continuous and accurate pointing angle calculation is completed.
Furthermore, the pointing angle calculation method adopts STK software simulation, and the STK simulation double-star chain building characteristics are as follows: the total time for establishing the link is 10232.928s, which accounts for 11.8% of the total simulation duration (24 hours), the maximum distance between two satellites is 20938km, and the minimum distance is 19597km. Comparing the STK software simulation with the DSP hardware realization result to obtain the off-axis angle
Figure BDA0004107614390000061
The error magnitude of the azimuth angle (psi) is 10-3 degrees, so that the requirement of the inter-satellite link establishment pointing precision is met. />

Claims (12)

1. The Ka frequency band inter-satellite link pointing angle calculating and verifying method is characterized by comprising the following steps of:
s1: inputting six low-orbit satellite orbits under a J2000.0 inertial coordinate system;
s2: inputting six middle orbit satellite orbits under a J2000.0 inertial coordinate system;
s3: calculating a position and speed vector of the low-orbit satellite under the J2000.0 inertial coordinate system;
s4: calculating a position and speed vector of the middle orbit satellite in the J2000.0 inertial coordinate system;
s5: the simplified position speed algorithm recursively uses the position speed vector of the low-orbit satellite at the next moment;
s6: the position speed algorithm is simplified to recursively calculate a position speed vector of the middle orbit satellite at the next moment;
s7: calculating the pointing vector from the low-orbit satellite to the medium-orbit satellite under the J2000.0 inertial coordinate system;
s8: calculating a pointing vector under a low-orbit satellite orbit coordinate system;
s9: calculating a pointing vector under a low-orbit satellite body coordinate system;
s10: calculating a pointing vector under a low-orbit satellite antenna coordinate system;
s11: calculating a Ka frequency band inter-satellite link pointing angle under a low-orbit satellite antenna coordinate system;
s12: DSP hardware implementation;
s13: STK simulation calculates off-axis angle and azimuth angle of the low orbit satellite pointing to the middle orbit satellite;
s14: the STK simulation is compared to the DSP hardware implementation.
2. The Ka-band inter-satellite link pointing angle calculation and verification method according to claim 1, wherein the Ka-band inter-satellite link pointing angle is an angle pointing to a middle orbit satellite in a low orbit inter-satellite antenna coordinate system, comprising: off-axis and azimuthal angles.
3. The Ka-band inter-satellite link bearing angle calculation and verification method according to claim 1, wherein in step S1 or S2, six orbits of the low-orbit or medium-orbit satellite of the J2000.0 inertial system respectively include: the data type is unsigned binary integer, namely, the orbit semi-long axis (a), the orbit eccentricity (e), the orbit inclination angle (i), the ascending intersection point right ascent angle (omega), the near-spot angular distance (omega) and the flat-near point angle (M).
4. A Ka-band inter-satellite link bearing angle calculation and verification method according to claim 3, wherein in step S3 or S4, the J2000.0 inertial coordinate system low-orbit or medium-orbit satellite position velocity vector comprises: x, Y, Z triaxial position and velocity, data type is two's complement.
5. The Ka-band inter-satellite link pointing angle calculation and verification method according to claim 1, wherein in step S5 or S6, the simplified position velocity algorithm is used to recursively estimate position velocity vectors x1n.r, x2n.r at the next time of the low-orbit and medium-orbit satellites, and the simplified position velocity algorithm is used to recursively estimate the distance of 10ms by using a first-order longgnku tower method.
6. The method for calculating and verifying the pointing angle of the inter-satellite link in the Ka band according to claim 5, wherein in step S7, the pointing vector from the low-earth satellite to the medium-earth satellite in the J2000.0 inertial coordinate system is x2n.r-x1n.r.
7. The method for calculating and verifying the pointing angle of a Ka-band inter-satellite link according to claim 6, wherein in step S8, the transformation matrix from the J2000.0 inertial coordinate system to the low-orbit satellite orbital coordinate system is calculated from the instantaneous root of the low-orbit satellite in the J2000.0 inertial coordinate system
Figure FDA0004107614380000021
Obtaining the pointing vector of the low orbit satellite orbit coordinate system as +.>
Figure FDA0004107614380000022
8. The Ka-band inter-satellite link pointing angle calculation and verification method according to claim 7, wherein in step S9, a transformation matrix of the low-orbit satellite orbit coordinate system to the body coordinate system is calculated from the platform attitude angle
Figure FDA0004107614380000023
Obtaining the pointing vector of the low orbit satellite body coordinate system as +.>
Figure FDA0004107614380000024
9. The Ka-band inter-satellite link pointing angle calculation and verification method according to claim 8, wherein in step S10, a transformation matrix of the low-orbit satellite body coordinate system to the antenna coordinate system is calculated from the inter-satellite antenna coordinate system
Figure FDA0004107614380000025
Obtaining the pointing vector of the low orbit satellite antenna coordinate system as +.>
Figure FDA0004107614380000026
10. The Ka-band inter-satellite link pointing angle calculation and verification party of claim 9The method is characterized in that in step S11, the off-axis angle is set in the low-orbit satellite antenna coordinate system
Figure FDA0004107614380000027
Azimuth ψ=atan2 (y, x).
11. The Ka-band inter-satellite link pointing angle calculation and verification method according to claim 1, wherein the pointing angle calculation method is realized by a DSP in hardware, and makes full use of the high-speed computing capability of the DSP to complete rapid stepping of position and speed, thereby completing continuous and accurate pointing angle operation.
12. The method for calculating and verifying the pointing angle of the Ka-band inter-satellite link according to claim 1, wherein the method for calculating the pointing angle adopts STK software simulation, and is compared with DSP hardware to realize the result, and the magnitude of the error of the off-axis angle and the azimuth angle is 10 -3 The degree meets the requirement of inter-satellite link establishment pointing precision.
CN202310197260.1A 2023-03-03 2023-03-03 Ka frequency band inter-satellite link pointing angle calculation and verification method Pending CN116182782A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117857413A (en) * 2024-03-07 2024-04-09 长光卫星技术股份有限公司 Inter-satellite link load link establishment pointing closed loop verification system, method, equipment and medium

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117857413A (en) * 2024-03-07 2024-04-09 长光卫星技术股份有限公司 Inter-satellite link load link establishment pointing closed loop verification system, method, equipment and medium

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