CN-122009538-A - Dynamic simulation method for load angle of ground equipment pointing to satellite

CN122009538ACN 122009538 ACN122009538 ACN 122009538ACN-122009538-A

Abstract

The invention provides a dynamic simulation method for a loading angle of a ground device pointing to a satellite, and belongs to the field of aerospace measurement and control. The method comprises the steps of calculating expected azimuth angle and pitch angle of the ground equipment pointing to a satellite to be simulated, setting the coordinate of a ground system of an initial high point and the height of the ground system relative to the motion horizontal plane of the ground equipment, fixing satellite load to the initial high point, calculating the coordinate of the ground equipment relative to the northeast system of the satellite load under the condition that the motion speed and range limit are met, and converting the coordinate of the ground equipment relative to the northeast system of the satellite load into the coordinate of the ground system to obtain the motion trail of the ground equipment. The static arrangement of the satellite loads avoids the limitations of the mounting capacity and the endurance of the unmanned aerial vehicle, the application scene is expanded, the movement track of the ground equipment is calculated in real time based on geometric constraint, the moment of the azimuth angle and the pitch angle of the fixed load is ensured to be consistent with the expected angle of the in-orbit satellite, and the limitation that the static simulation cannot reflect the dynamic change of the angle is broken through.

Inventors

GENG DAN
LIU XISHUANG
LIU YONGLI
PENG JINXIAN
Qin Jianqi
Yi Tuoyuan
TIAN MIAOMIAO
ZHAO CHAO
LV LIHUA

Assignees

中国人民解放军63611部队

Dates

Publication Date: 20260512
Application Date: 20250703

Claims (7)

1. The dynamic simulation method for the satellite load angle pointed by the ground equipment is characterized by comprising the following steps of: step 1, calculating an expected azimuth angle and an expected pitch angle of the ground equipment pointing to the satellite to be simulated at any moment in the transit time of the satellite to be simulated according to the fixed coordinates of the ground equipment and the orbit number of the satellite to be simulated; step 2, setting the geodetic coordinates of an initial high point of the satellite load and the height of the initial high point relative to the motion horizontal plane of ground equipment, and fixing the satellite load to the initial high point; Step 3, calculating the northeast coordinate system coordinates of the ground equipment meeting the motion constraint and the range limitation relative to the satellite load according to the calculated expected azimuth angle and expected pitch angle of the ground equipment pointing to the satellite to be simulated and the set initial high point of the satellite load, wherein the method comprises the following substeps: Step 3.1, calculating the slant distance between the ground equipment and the satellite load and the horizontal projection of the slant distance according to the expected pitch angle of the ground equipment pointing to the satellite to be simulated and the height of the initial high point relative to the motion horizontal plane of the ground equipment; step 3.2, calculating the east coordinate and the north coordinate of the ground equipment relative to the satellite load according to the horizontal projection of the ground equipment pointing to the expected azimuth angle of the satellite to be simulated and the inclined distance between the ground equipment and the satellite load; Step 3.3, determining the heaven coordinates of the ground equipment relative to the satellite load according to the height of the initial high point relative to the ground equipment motion horizontal plane; Step 3.4, judging whether the motion speed and range determined by the eastern coordinate and the northeast coordinate of the ground equipment relative to the satellite load are out of limit or not according to the maximum motion speed constraint and the motion boundary constraint of the ground equipment, if so, returning to the step 2 to adjust the height of the initial high point relative to the motion horizontal plane of the ground equipment, and repeating the steps 3.1 to 3.3 until the constraint is met, and outputting the final northeast coordinate system coordinate of the ground equipment relative to the satellite load; and 4, calculating the motion trail parameters of the ground equipment through coordinate conversion based on the output northeast and north coordinate system coordinates of the ground equipment relative to the satellite load and the final high-point ground system coordinates.
2. The method for dynamic simulation of the angle of the ground equipment to the satellite load according to claim 1, wherein in step 3.1, the calculation of the slope distance between the ground equipment and the satellite load and the horizontal projection thereof satisfy the following geometric relationship: In the formula, Indicating the slant range of the ground equipment from the satellite load, Representing the elevation of the initial high point of satellite loading relative to the ground equipment motion level, Indicating the desired pitch angle at which the ground equipment is pointed towards the satellite to be simulated, Representing the projection of the slant distance onto the horizontal plane.
3. The method of dynamic modeling of the angle of a ground device to satellite loading according to claim 2, wherein in step 3.2, the eastern and north coordinates of the ground device relative to the satellite loading are calculated as follows: In the formula, And Representing the eastern and north coordinates of the ground device relative to the satellite load, Indicating the desired azimuth at which the surface equipment is pointed at the satellite to be simulated.
4. A method of dynamic simulation of the angle of a ground device to a satellite load according to claim 3, wherein in step 3.3, the coordinates of the ground device with respect to the satellite load are: In the formula, Representing the world coordinates of the earth's device relative to the satellite load.
5. The method of dynamic simulation of the loading angle of a ground device to a satellite according to claim 4, wherein in step 3.4, the verification of the movement speed and range of the ground device comprises: calculating the movement speed of ground equipment at the east-north level at any moment in the transit time of the satellite to be simulated If any Or (b) Or (b) Wherein For the maximum speed of movement of the ground equipment in the east-north horizontal plane, And Boundary of motion of ground equipment relative to satellite load high point, wherein And Respectively represent the left and right boundaries of the east motion, And And respectively representing the upper boundary and the lower boundary of the north movement, and judging that the horizontal movement speed and the range of the ground equipment are out of limit.
6. The method for dynamically simulating the loading angle of a ground device pointing to a satellite according to claim 5, wherein in step 3.4, the satellite loading height is adjusted by gradually reducing the satellite loading height in a fixed step size Until the movement speed and range of the ground equipment meet the constraint conditions.
7. The method for dynamically simulating the loading angle of a ground device to a satellite according to any one of claims 4 to 6, wherein the coordinate transformation in step 4 is specifically to transform the coordinates by a rotation transformation formula from the northeast coordinate system to the geodetic coordinate system And (5) overlapping the ground coordinates to the satellite load ground coordinates to generate a ground equipment ground coordinate motion track.

Description

Dynamic simulation method for load angle of ground equipment pointing to satellite Technical Field The invention belongs to the technical field of aerospace measurement and control, and particularly relates to a dynamic simulation method for a satellite load angle pointed by ground equipment. Background In the field of aerospace measurement and control, ground equipment needs to establish an accurate pointing relationship with satellites. There are two main classes of techniques for the traditional approach: And in a static simulation mode, the satellite load is placed at a high-point position, and the ground equipment points at the load at a static angle. The method can not simulate the dynamic change of the pointing angle of the ground equipment caused by satellite motion, and has obvious difference from the actual on-orbit scene. According to the unmanned aerial vehicle mounting mode, the unmanned aerial vehicle mounting load flies according to a fixed height or a fixed distance scaling, so that the direction of the ground equipment to the unmanned aerial vehicle is consistent with the direction of the on-orbit satellite to be simulated at the moment of a pitch angle. However, the method is limited by the mounting capacity and endurance limit of the unmanned aerial vehicle, is difficult to adapt to the testing requirements of large-scale and high-weight satellite loads, and has limited application scenes. Disclosure of Invention The invention aims to solve the problems that the static simulation in the existing building mode of the pointing relationship between ground equipment and satellite load can not realize the dynamic change of angle and the application scene of unmanned aerial vehicle mounting is limited, and provides a method for dynamically simulating the pointing satellite load angle, in particular to a method for dynamically simulating the change of the pointing satellite in orbit under the condition of fixing high-order satellite load by planning the movement track of the ground equipment. In order to achieve the above purpose, the technical solution provided by the present invention is: The method for dynamically simulating the load angle of the ground equipment pointing to the satellite comprises the following steps: step 1, calculating an expected azimuth angle and an expected pitch angle of the ground equipment pointing to the satellite to be simulated at any moment in the transit time of the satellite to be simulated according to the fixed coordinates of the ground equipment and the orbit number of the satellite to be simulated; Step 2, setting the geodetic coordinates of the initial high point of the satellite load and the height of the initial high point relative to the motion horizontal plane of ground equipment, and fixing the satellite load to the initial high point; Step 3, calculating the northeast coordinate system coordinates of the ground equipment meeting the motion constraint and the range limitation relative to the satellite load according to the calculated expected azimuth angle and expected pitch angle of the ground equipment pointing to the satellite to be simulated and the set initial high point of the satellite load, wherein the method comprises the following substeps: Step 3.1, calculating the slant distance between the ground equipment and the satellite load and the horizontal projection of the slant distance according to the expected pitch angle of the ground equipment pointing to the satellite to be simulated and the height of the initial high point relative to the motion horizontal plane of the ground equipment; step 3.2, calculating the east coordinate and the north coordinate of the ground equipment relative to the satellite load according to the horizontal projection of the ground equipment pointing to the expected azimuth angle of the satellite to be simulated and the inclined distance between the ground equipment and the satellite load; Step 3.3, determining the heaven coordinates of the ground equipment relative to the satellite load according to the height of the initial high point relative to the ground equipment motion horizontal plane; Step 3.4, judging whether the motion speed and range determined by the eastern coordinate and the northeast coordinate of the ground equipment relative to the satellite load are out of limit or not according to the maximum motion speed constraint and the motion boundary constraint of the ground equipment, if so, returning to the step 2 to adjust the height of the initial high point relative to the motion horizontal plane of the ground equipment, and repeating the steps 3.1 to 3.3 until the constraint is met, and outputting the final northeast coordinate system coordinate of the ground equipment relative to the satellite load; and 4, calculating the motion trail parameters of the ground equipment through coordinate conversion based on the output northeast and north coordinate system coordinates of the ground equipment relati