技术领域technical field
本发明的一种基于小卫星集群自组网的数据高速通信方法，属于卫星编队组网技术领域。A high-speed data communication method based on a small satellite cluster ad hoc network of the present invention belongs to the technical field of satellite formation networking.
背景技术Background technique
现有的通信卫星星座系统，比如铱星、全球星系统，卫星位于不同轨道面，构成固定星座构型，卫星间通信链路确定；而小卫星编队系统，比如Techsat-21、TanDEM-X、GRACE等，同样采用固定编队构型，这些系统仅仅建立了固定的星间通信链路，不具备星间数据交换和多跳传输能力，尚不足以称之为星间网络，更不能实现自组网。In the existing communication satellite constellation systems, such as Iridium and Global Star systems, the satellites are located in different orbital planes, forming a fixed constellation configuration, and the communication links between satellites are determined; while the small satellite formation systems, such as Techsat-21, TanDEM-X, GRACE, etc. also adopt a fixed formation configuration. These systems only establish fixed inter-satellite communication links, and do not have inter-satellite data exchange and multi-hop transmission capabilities. They are not enough to be called inter-satellite networks, let alone realize self-organization network.
美国提出的F6系统概念，系统能自主运行，支持模块加入/退出，集群中各模块通过网络实现资源共享，面对威胁能够实现自主重构。但该系统设计并未给出具体的集群组网实现方法，也未涉及数据高速传输问题。The F6 system concept proposed by the United States, the system can operate independently, support module joining/exiting, each module in the cluster realizes resource sharing through the network, and can realize independent reconstruction in the face of threats. However, the system design does not give a specific cluster networking implementation method, nor does it involve high-speed data transmission.
本专利设计的系统及方法与目前国内外在轨运行以及文献专利中设计的系统均不相同，具有一定的新颖性。相关系统的基本情况如下：The system and method designed in this patent are different from the current domestic and foreign on-orbit operation and the system designed in the literature patent, and have certain novelty. The basic situation of the related system is as follows:
（一）卫星星座系统(1) Satellite constellation system
（1）Iridium系统(1) Iridium system
文献“第二代铱星系统及其搭载应用概况，吴建军程宇新等，第六届卫星通信新业务新技术学术年会，2010.3”中描述了铱星系统的基本情况：66颗低轨道卫星星座，。The document "Overview of the second-generation Iridium system and its application, Wu Jianjun, Cheng Yuxin, etc., the 6th Academic Annual Conference on New Services and New Technologies for Satellite Communications, March 2010" describes the basic situation of the Iridium system: 66 low-orbit satellite constellations, .
（2）Globalstar系统(2) Globalstar system
文献“卫星通信系列讲座之八全球星系统概况，张更新李罡等，数字通信世界，2007.12”描述了全球星系统基本情况：48颗低轨道卫星星座和分布于全球的38个地面信关站组成，16波束固定多波束天线，无星间链路，星上透明转发。系统建设、运行、管理和维护成本极大。The document "Satellite Communication Series Lectures: Overview of Eight Global Star Systems, Zhang Gengxin, Li Gang, etc., Digital Communication World, 2007.12" describes the basic situation of the global star system: 48 low-orbit satellite constellations and 38 ground gateway stations distributed around the world Composition, 16-beam fixed multi-beam antenna, no inter-satellite link, transparent forwarding on the star. The cost of system construction, operation, management and maintenance is extremely high.
（3）ICO系统(3) ICO system
文献“中圆轨道卫星通信系统ICO，林子杰，天津航海，2002.3”中描述了ICO系统基本情况：10颗中轨道卫星星座和7个地面关口站组成，120波束固定多波束天线。多波束天线技术复杂，系统建设、运行、管理和维护成本高。The document "Medium-orbit satellite communication system ICO, Lin Zijie, Tianjin Navigation, 2002.3" describes the basic situation of the ICO system: 10 medium-orbit satellite constellations and 7 ground gateway stations, 120-beam fixed multi-beam antenna. Multi-beam antenna technology is complicated, and the system construction, operation, management and maintenance costs are high.
（4）中轨赤道卫星星座方案(4) Medium-orbit equatorial satellite constellation scheme
申请号为CN99106177.2的专利“中轨赤道卫星星座方案”，设计的系统由均匀分布在赤道上方的四颗或五颗卫星组成。该方案对于高纬度地区覆盖困难，且仅仅给出了星座设计，没有关于通信方法的设计。The patent application number is CN99106177.2 "Mid-orbit equatorial satellite constellation scheme", the designed system consists of four or five satellites evenly distributed above the equator. This solution is difficult to cover in high latitude areas, and only gives the constellation design, without the design of the communication method.
（5）一种综合卫星通信系统框架与星座(5) An integrated satellite communication system framework and constellation
申请号为CN99114761.8的专利“一种综合卫星通信系统框架与星座”，设计了一种中国综合卫星通信系统，它是由同步卫星和若干个非同步卫星构成，非同步卫星是由中轨卫星或椭圆轨道卫星星座组成，具有区域性和时限性。该系统用于中国区域实时通信和非实时全球数据通信。The patent application number is CN99114761.8 "A Framework and Constellation of an Integrated Satellite Communication System", which designs a Chinese integrated satellite communication system, which is composed of a synchronous satellite and a number of non-synchronous satellites. Constellation of satellites or satellites in elliptical orbits, regional and time-bound. The system is used for real-time communication in China and non-real-time global data communication.
（二）卫星编队系统(2) Satellite formation system
目前国际上现有分布式卫星系统一般针对特定任务设计，每颗卫星配置相同，集多种功能于一身，且连接关系基于系统功能设计，一般不能根据任务和需求的变化而改变，自适应性与扩展性差。比如，Techsat-21计划星间距离在100m到5km，星间链路主要是传递编队位置时间信息和载荷的情况，速率仅为128bps[2]；TanDEM—X任务星间交互信息主要是GPS的位置信息以及姿态状态信息，每10s以32kbps发送[3]；GRACE星间链路具有测距功能[4]。At present, the existing distributed satellite systems in the world are generally designed for specific tasks. Each satellite has the same configuration and integrates multiple functions, and the connection relationship is based on system function design. Generally, it cannot be changed according to changes in tasks and requirements. Adaptability and poor scalability. For example, Techsat-21 plans to have an inter-satellite distance of 100m to 5km, and the inter-satellite link is mainly to transmit formation position time information and load, and the rate is only 128bps[2] ; the TanDEM-X mission inter-satellite interaction information is mainly GPS Position information and attitude status information are sent at 32kbps every 10s[3] ; the GRACE inter-satellite link has a ranging function[4] .
在星间网络方面，现有系统仅仅建立了固定的星间通信链路，不具备星间数据交换和多跳传输能力，尚不足以称之为星间网络。In terms of inter-satellite network, the existing system only establishes a fixed inter-satellite communication link, and does not have inter-satellite data exchange and multi-hop transmission capabilities, which is not enough to be called an inter-satellite network.
（三）F6卫星系统(3) F6 satellite system
针对分布式同构卫星系统的不足，美国国防高级研究计划局（DARPA）提出了分离模块概念，并开展了实现该概念的F6项目[5,6]。F6英文全称为“Future,Fast,Flexible,Fractionated,Free-Flying Spacecraft”，直译为通过信息交换连接的“未来、快速、灵活、分离模块、自由飞行航天器”，是美国国防高级研究计划局对分离模块概念进行的技术研发和演示验证项目。Aiming at the shortcomings of the distributed homogeneous satellite system, the US Defense Advanced Research Projects Agency (DARPA) proposed the concept of separate modules, and launched the F6 project [5,6] to realize this concept. The full English name of F6 is "Future, Fast, Flexible, Fractionated, Free-Flying Spacecraft". Technology research and development and demonstration projects for separate module concepts.
美国DARPA计划在2014-2015年进行F6的LEO在轨演示验证，该验证系统命名为“昴宿星”（Pleiades）。初期目标仅是实现分布式系统的功能性指标，即①系统能自主运行，支持模块加入/退出；②集群中各模块通过网络实现资源共享；③面对威胁能够实现自主重构。The US DARPA plans to carry out the F6 LEO on-orbit demonstration and verification in 2014-2015, and the verification system is named "Pleiades". The initial goal is only to realize the functional indicators of the distributed system, that is, ① the system can run autonomously and support module joining/exiting; ② each module in the cluster can share resources through the network; ③ it can realize independent reconstruction in the face of threats.
“昴宿星”（Pleiades）由7个模块构成，每个模块飞行器具备通用的功能单元—平台控制功能单元（ACS）和通信功能单元（Communications），以实现模块群的编队控制和组网通信。在通用功能单元配置基础上，不同模块飞行器配置不同功能的专用功能单元，包括传感器载荷（sensor）单元、存储（Storage）单元、数据处理（Processor）单元等。配置了专用功能单元的模块飞行器即可在模块群编队系统中完成相应的专用功能，各模块飞行器之间通过通信功能单元实现星上大容量存储、数据处理以及对地传输等资源共享。"Pleiades" is composed of 7 modules, and each module aircraft has common functional units—platform control functional unit (ACS) and communication functional unit (Communications), in order to realize the formation control and network communication of the module group . On the basis of general functional unit configuration, different module aircrafts are equipped with special functional units with different functions, including sensor load (sensor) unit, storage (Storage) unit, data processing (Processor) unit, etc. The modular aircraft equipped with special functional units can complete the corresponding special functions in the modular group formation system, and the communication functional units between the modular aircraft can realize resource sharing such as large-capacity storage, data processing, and ground transmission on the star.
F6演示系统模块航天器之间的通信单元采用自组织网络技术实现组网通信，采用无中心网络结构，模块航天器之间为对等通信节点，具有无中心化、自发现、自动配置、自组织、故障自愈以及高可靠性和高可用性等特点。The communication unit between the module spacecraft of the F6 demonstration system adopts self-organizing network technology to realize network communication, adopts a centerless network structure, and the module spacecraft are peer-to-peer communication nodes. organization, fault self-healing, and high reliability and availability.
但该系统所有组网通信、探测数据传输等功能由通信功能单元统一实现，组网通信一般为低速全向通信，而探测数据传输为高速定向通信，两者集成在一起相互影响，扩展性差，尤其对于很高速率的传输需求很难满足。并且，该系统设计并未给出具体的探测数据传输方法。However, all functions such as network communication and detection data transmission of the system are realized by the communication functional unit. Network communication is generally low-speed omnidirectional communication, while detection data transmission is high-speed directional communication. The two are integrated and affect each other, and the scalability is poor. Especially for very high speed transmission requirements it is difficult to meet. Moreover, the system design does not give a specific detection data transmission method.
发明内容Contents of the invention
本发明的技术解决问题是：克服现有技术的不足，提供一种基于小卫星集群自组网的数据高速通信方法，本方法采用混合网络结构，实现了集群内组网运行控制相关信息的交互，以此为基础，实现了探测数据的高速传输的选路、建路和控制。The technical problem of the present invention is: to overcome the deficiencies of the prior art, to provide a high-speed data communication method based on small satellite cluster ad hoc network, this method adopts a hybrid network structure, and realizes the interaction of information related to the operation and control of the cluster network Based on this, the route selection, route construction and control of the high-speed transmission of detection data are realized.
本发明的技术解决方案是：Technical solution of the present invention is:
一种基于小卫星集群自组网的数据高速通信方法，所述的卫星通信网络包括至少1颗探测卫星、至少1颗对地通信卫星、至少1颗中转卫星；探测卫星包括队形控制组件、网络通信组件、高速传输组件、探测器和控制管理组件；对地通信卫星队形控制组件、网络通信组件、高速传输组件、对地通信组件、存储器和控制管理组件；中转卫星包括队形控制组件、网络通信组件、高速传输组件和控制管理组件；A high-speed data communication method based on a small satellite cluster ad hoc network, the satellite communication network includes at least one detection satellite, at least one ground communication satellite, and at least one transit satellite; the detection satellite includes a formation control component, Network communication components, high-speed transmission components, detectors and control management components; ground communication satellite formation control components, network communication components, high-speed transmission components, ground communication components, storage and control management components; transit satellites include formation control components , network communication components, high-speed transmission components and control management components;
数据高速通信方法步骤如下：The steps of the data high-speed communication method are as follows:
（1）根据任务所要求的小卫星集群编队构型，各卫星队形控制组件对卫星平台进行轨道和姿态调整；(1) According to the small satellite cluster formation configuration required by the mission, each satellite formation control component adjusts the orbit and attitude of the satellite platform;
（2）各卫星之间通过网络通信组件采用自组织网络方法实现任意两个卫星之间单跳或多跳通信；(2) The self-organizing network method is used to realize single-hop or multi-hop communication between any two satellites through network communication components between satellites;
（3）控制管理组件进行各卫星之间的网络状态管理并根据队形变化实时更新网络状态信息；所述的网络状态管理包括控制管理组件通过队形控制组件获取编队构型中本卫星的相关信息以及通过网络通信组件获取整个网络的状态信息；所述的相关信息包括位置信息和姿态信息；所述的网络状态信息包括全网路由信息、各卫星高速传输组件通信能力和使用状态；(3) The control management component manages the network status between satellites and updates the network status information in real time according to the formation change; the network status management includes that the control management component obtains the relevant information of the satellite in the formation configuration through the formation control component. Information and status information of the entire network obtained through the network communication components; the related information includes position information and attitude information; the network status information includes routing information of the entire network, communication capabilities and usage status of each satellite high-speed transmission component;
（4）当探测卫星的探测器需要发送探测数据时，探测器向控制管理组件发送请求消息，所述请求消息包含探测数据传输目的对地通信卫星和传输速率；(4) When the detector of the detection satellite needs to send detection data, the detector sends a request message to the control management component, and the request message includes the transmission destination of the detection data to the ground communication satellite and the transmission rate;
（5）探测卫星的控制管理组件接收到探测器的请求消息后，根据步骤（3）中获得的网络状态信息，计算得到探测数据的最佳传输路径；(5) After the control and management component of the detection satellite receives the request message from the detector, it calculates the optimal transmission path of the detection data according to the network status information obtained in step (3);
（6）最佳传输路径上的各卫星的控制管理组件根据步骤（5）中计算的最佳传输路径生成控制信息，并将其发送至传输路径上的各卫星；(6) The control management component of each satellite on the optimal transmission path generates control information according to the optimal transmission path calculated in step (5), and sends it to each satellite on the transmission path;
（7）各卫星接收到步骤（6）中的控制信息，由其控制管理组件为探测数据传输分配传输资源，同时控制高速传输组件调整天线指向，并反馈确认信息至源节点，所述的源节点指最初产生控制消息的探测卫星；(7) Each satellite receives the control information in step (6), and its control management component allocates transmission resources for the detection data transmission, and at the same time controls the high-speed transmission component to adjust the antenna pointing, and feeds back confirmation information to the source node. Node refers to the probe satellite that originally generated the control message;
（8）当源节点接收传输路径上各卫星反馈的确认信息后，源节点向探测器发送数据传输指令，所述的数据传输指令包括传输速率和传输方式；(8) After the source node receives the confirmation information fed back by each satellite on the transmission path, the source node sends a data transmission command to the detector, and the data transmission command includes the transmission rate and transmission mode;
（9）探测器按照传输指令进行探测数据传输，探测数据通过步骤（5）中最佳传输路径上的卫星依次转发达到目的对地通信卫星；(9) The detector transmits the detection data according to the transmission instruction, and the detection data is sequentially forwarded by the satellites on the optimal transmission path in step (5) to reach the destination ground communication satellite;
（10）当探测器完成数据传输后，将探测数据传输完成指令发送至控制管理组件；(10) After the detector completes the data transmission, send the detection data transmission completion command to the control management component;
（11）目的对地通信卫星接收探测数据并存储于存储器中，当对地传输信道建立后，通过对地通信组件，将存储于存储器中的探测数据传输至地面站；(11) The destination ground communication satellite receives the detection data and stores it in the memory. When the ground transmission channel is established, the detection data stored in the memory is transmitted to the ground station through the ground communication component;
（12）探测卫星的控制管理组件向传输路径上各卫星发送路径拆除指令；(12) The control and management component of the detection satellite sends a path removal command to each satellite on the transmission path;
（13）各卫星根据接收到的拆链指令回收传输资源，探测数据传输任务完成。(13) Each satellite recovers the transmission resources according to the received link dismantling command, and the detection data transmission task is completed.
所述步骤（1）中小卫星集群的探测卫星、对地通信卫星和中转卫星的数量可根据需求任意配置。The number of detection satellites, ground communication satellites and transit satellites of the small and medium-sized satellite cluster in the step (1) can be arbitrarily configured according to requirements.
所述步骤（5）中的最佳传输路径计算方法如下：The optimal transmission path calculation method in the step (5) is as follows:
（a）控制管理组件收集路径计算所需输入信息，所述的输入信息包括对地通信卫星数量、每颗对地通信卫星剩余可用传输资源、每颗对地通信卫星剩余可用存储资源、中转卫星数量、每颗中转卫星高速传输组件配置的天线数量、每个天线指向范围及每个天线当前使用状态、网络连通关系、每颗卫星的位置信息、姿态信息和运行轨迹；所述天线当前使用状态是指正在使用或空闲；所述网络连通关系是指小卫星集群内每个小卫星通过网络通信组件可与其他哪几个小卫星进行直接一跳通信(a) The control and management component collects the input information required for path calculation. The input information includes the number of ground communication satellites, the remaining available transmission resources of each ground communication satellite, the remaining available storage resources of each ground communication satellite, and the transit satellite Quantity, the number of antennas configured by each transit satellite high-speed transmission component, the pointing range of each antenna and the current use status of each antenna, network connection relationship, position information, attitude information and running track of each satellite; the current use status of the antenna refers to being in use or idle; the network connection relationship refers to which small satellites in the small satellite cluster can perform direct one-hop communication with other small satellites through the network communication component
（b）控制组件根据探测器发送请求的传输速率和传输持续时间，由传输速率乘以传输持续时间，计算得到所需存储资源，在所有对地通信卫星中选出同时满足剩余可用存储资源大于所需存储资源和剩余可用传输资源大于所请求的传输速率的卫星作为备选目的对地通信卫星；(b) According to the transmission rate and transmission duration of the request sent by the probe, the control component calculates the required storage resources by multiplying the transmission rate by the transmission duration, and selects from all ground communication satellites that the remaining available storage resources are greater than Satellites with required storage resources and remaining available transmission resources greater than the requested transmission rate are used as alternative destination ground communication satellites;
（c）控制组件根据网络连通关系，计算每个备选目的对地通信卫星与发起传输请求的探测卫星之间的可选传输路径，其中所述可选传输路径在某些队形条件下可能有多条；(c) The control component calculates the optional transmission path between each alternative destination ground communication satellite and the detection satellite that initiates the transmission request according to the network connection relationship, where the optional transmission path may be under certain formation conditions. There are multiple;
（d）控制组件在所有可选传输路径中进行最佳传输路径选择，具体选择方法如下：(d) The control component selects the best transmission path among all optional transmission paths, and the specific selection method is as follows:
（d1）在所有可选传输路径中，选择最短路径，所述最短路径是指从发起传输请求的探测卫星到备选目的对地通信卫星经过的卫星数量最少的路径；(d1) Among all the optional transmission paths, select the shortest path, the shortest path refers to the path with the least number of satellites passing through from the detection satellite that initiates the transmission request to the alternative destination ground communication satellite;
（d2）针对最短路径上的卫星的高速传输组件的空闲天线，根据卫星的位置信息、姿态信息、运行轨迹和天线指向范围，计算传输路径上的相邻卫星的天线指向之间是否能够对准；所述天线指向对准是指相邻卫星高速传输组件之间可以通过相互对准的天线实现探测数据传输，若不能实现探测数据传输则判断不能对准则；(d2) For the idle antenna of the high-speed transmission component of the satellite on the shortest path, calculate whether the antenna points of adjacent satellites on the transmission path can be aligned according to the satellite's position information, attitude information, operating trajectory and antenna pointing range ; The antenna pointing alignment means that the adjacent satellite high-speed transmission components can realize detection data transmission through antennas aligned with each other, and if the detection data transmission cannot be realized, it is judged that the criterion cannot be aligned;
（d3）若最短路径上所有卫星均满足所述步骤（d2）中的相邻卫星的天线能够对准的条件，则该最短路径作为最佳传输路径；(d3) If all the satellites on the shortest path meet the condition that the antennas of adjacent satellites in the step (d2) can be aligned, then the shortest path is taken as the best transmission path;
（d4）若最短路径上至少有1颗卫星不满足步骤（d2）中的相邻卫星的天线对准的条件，则在剩余可选传输路径中，选择最短路径，转入步骤（d2），直到选出最佳传输路径。(d4) If there is at least one satellite on the shortest path that does not meet the antenna alignment conditions of adjacent satellites in step (d2), select the shortest path among the remaining optional transmission paths and go to step (d2), until the best transmission path is selected.
本发明与现有技术相比的有益效果是：The beneficial effect of the present invention compared with prior art is:
（1）本发明采用混合网络结构，可在不同任务需求、不同编队构型下，实现集群内探测数据的高速传输，同时具有无线自组织网络的无中心化、自发现、自动配置、自组织、故障自愈、自适应队形变化以及高可靠性和高可用性。(1) The present invention adopts a hybrid network structure, which can realize high-speed transmission of detection data in the cluster under different task requirements and different formation configurations, and at the same time has the decentralization, self-discovery, automatic configuration, and self-organization of wireless self-organizing networks , fault self-healing, adaptive formation changes, and high reliability and availability.
（2）本发明通过组网通信与探测数据传输组件的独立设计，可在集群规模变化、探测数据传输速率提高等情况下，实现保持组网通信组件、网控管理组件，而探测数据传输组件随着传输速率提高而不断升级，因此，具有良好的应用背景适应性与扩展性。(2) Through the independent design of the network communication and detection data transmission components, the present invention can maintain the network communication components and network control management components, while the detection data transmission components It is continuously upgraded with the increase of transmission rate, therefore, it has good application background adaptability and expansibility.
附图说明Description of drawings
图1为本发明小卫星集群的系统结构示意图；Fig. 1 is the system structure diagram of small satellite cluster of the present invention;
图2为本发明方法流程图。Fig. 2 is a flow chart of the method of the present invention.
具体实施方式detailed description
下面结合附图对本发明的具体实施方式进行进一步的详细描述。Specific embodiments of the present invention will be further described in detail below in conjunction with the accompanying drawings.
如图1所示，一种基于小卫星集群自组网的数据高速通信方法，所述的卫星通信网络包括至少1颗探测卫星、至少1颗对地通信卫星、至少1颗中转卫星；探测卫星包括队形控制组件、网络通信组件、高速传输组件、探测器和控制管理组件；对地通信卫星包括队形控制组件、网络通信组件、高速传输组件、对地通信组件、存储器和控制管理组件；中转卫星包括队形控制组件、网络通信组件、高速传输组件（高速传输组件配置多个天线，每个天线具有一定的覆盖范围）和控制管理组件；As shown in Figure 1, a high-speed data communication method based on a small satellite cluster ad hoc network, the satellite communication network includes at least one detection satellite, at least one ground communication satellite, and at least one transit satellite; the detection satellite Including formation control components, network communication components, high-speed transmission components, detectors and control management components; ground communication satellites include formation control components, network communication components, high-speed transmission components, ground communication components, storage and control management components; Transit satellites include formation control components, network communication components, high-speed transmission components (high-speed transmission components are equipped with multiple antennas, and each antenna has a certain coverage) and control management components;
队形控制组件实现小卫星运行轨迹、姿态的控制，通过对每颗卫星的控制实现小卫星集群编队队形的变化，以构成系统任务所需要的队形；The formation control component realizes the control of the orbit and attitude of the small satellite, and realizes the change of the small satellite cluster formation formation through the control of each satellite, so as to form the formation required by the system task;
网络通信组件采用自组织网络技术，通过全向天线实现小卫星之间的通信与信息交互，包括队形控制信息、网络状态信息等；The network communication component adopts self-organizing network technology to realize communication and information interaction between small satellites through omnidirectional antennas, including formation control information, network status information, etc.;
高速传输组件配置多个天线，每个天线具有一定的空间指向，覆盖一定服务，通过不同的天线可以实现与不同方位的卫星实现探测数据的高速传输；The high-speed transmission component is equipped with multiple antennas. Each antenna has a certain spatial orientation and covers a certain service. Different antennas can realize high-speed transmission of detection data with satellites in different orientations;
探测器是小卫星上用于遥感探测的设备，比如光学照相机、雷达等；Detectors are devices used for remote sensing detection on small satellites, such as optical cameras, radars, etc.;
控制管理组件用于对小卫星集群内载荷数据高速传输的控制。The control management component is used to control the high-speed transmission of payload data in the small satellite cluster.
数据高速通信方法步骤如下：The steps of the data high-speed communication method are as follows:
（1）根据任务所要求的小卫星集群编队构型，各卫星队形控制组件对卫星平台进行轨道和姿态调整；小卫星集群的探测卫星、对地通信卫星和中转卫星的数量可根据需求任意配置。(1) According to the small-satellite cluster formation configuration required by the mission, each satellite formation control component adjusts the orbit and attitude of the satellite platform; the number of detection satellites, ground-to-ground communication satellites and transit satellites of the small-satellite cluster can be arbitrary according to requirements configuration.
（2）各卫星之间通过网络通信组件采用自组织网络方法实现任意两个卫星之间单跳或多跳通信；(2) The self-organizing network method is used to realize single-hop or multi-hop communication between any two satellites through network communication components between satellites;
（3）控制管理组件进行各卫星之间的网络状态管理并根据队形变化实时更新网络状态信息；所述的网络状态管理包括控制管理组件通过队形控制组件获取编队构型中本卫星的相关信息以及通过网络通信组件获取整个网络的状态信息；所述的相关信息包括位置信息和姿态信息；所述的网络状态信息包括全网路由信息、各卫星高速传输组件通信能力和使用状态；(3) The control management component manages the network status between satellites and updates the network status information in real time according to the formation change; the network status management includes that the control management component obtains the relevant information of the satellite in the formation configuration through the formation control component. Information and status information of the entire network obtained through the network communication components; the related information includes position information and attitude information; the network status information includes routing information of the entire network, communication capabilities and usage status of each satellite high-speed transmission component;
（4）当探测卫星的探测器需要发送探测数据时，探测器向控制管理组件发送请求消息，所述请求消息包含探测数据传输目的对地通信卫星（目的对地通信卫星指多个对地通信卫星中被选择为发送数据目的地的对地通信卫星）和传输速率；(4) When the detector of the detection satellite needs to send detection data, the detector sends a request message to the control management component, and the request message includes the destination of the detection data transmission to the ground communication satellite (the destination ground communication satellite refers to multiple ground communication satellites Satellites selected as destinations for data transmission) and transmission rates;
（5）探测卫星的控制管理组件接收到探测器的请求消息后，根据步骤（3）中获得的网络状态信息，计算得到探测数据的最佳传输路径；(5) After the control and management component of the detection satellite receives the request message from the detector, it calculates the optimal transmission path of the detection data according to the network status information obtained in step (3);
最佳传输路径计算方法如下：The optimal transmission path calculation method is as follows:
（a）控制管理组件收集路径计算所需输入信息，所述的输入信息包括对地通信卫星数量、每颗对地通信卫星剩余可用传输资源、每颗对地通信卫星剩余可用存储资源、中转卫星数量、每颗中转卫星高速传输组件配置的天线数量、每个天线指向范围及每个天线当前使用状态、网络连通关系、每颗卫星的位置信息、姿态信息和运行轨迹；所述天线当前使用状态是指正在使用或空闲；所述网络连通关系是指小卫星集群内每个小卫星通过网络通信组件可与其他哪几个小卫星进行直接一跳通信(a) The control and management component collects the input information required for path calculation. The input information includes the number of ground communication satellites, the remaining available transmission resources of each ground communication satellite, the remaining available storage resources of each ground communication satellite, and the transit satellite Quantity, the number of antennas configured by each transit satellite high-speed transmission component, the pointing range of each antenna and the current use status of each antenna, network connection relationship, position information, attitude information and running track of each satellite; the current use status of the antenna refers to being in use or idle; the network connection relationship refers to which small satellites in the small satellite cluster can perform direct one-hop communication with other small satellites through the network communication component
（b）控制组件根据探测器发送请求的传输速率和传输持续时间，由传输速率乘以传输持续时间，计算得到所需存储资源，在所有对地通信卫星中选出同时满足剩余可用存储资源大于所需存储资源和剩余可用传输资源大于所请求的传输速率的卫星作为备选目的对地通信卫星；(b) According to the transmission rate and transmission duration of the request sent by the probe, the control component calculates the required storage resources by multiplying the transmission rate by the transmission duration, and selects from all ground communication satellites that the remaining available storage resources are greater than Satellites with required storage resources and remaining available transmission resources greater than the requested transmission rate are used as alternative destination ground communication satellites;
（c）控制组件根据网络连通关系，计算每个备选目的对地通信卫星与发起传输请求的探测卫星之间的可选传输路径，其中所述可选传输路径在某些队形条件下可能有多条；(c) The control component calculates the optional transmission path between each alternative destination ground communication satellite and the detection satellite that initiates the transmission request according to the network connection relationship, where the optional transmission path may be under certain formation conditions. There are multiple;
（d）控制组件在所有可选传输路径中进行最佳传输路径选择，具体选择方法如下：(d) The control component selects the best transmission path among all optional transmission paths, and the specific selection method is as follows:
（d1）在所有可选传输路径中，选择最短路径，所述最短路径是指从发起传输请求的探测卫星到备选目的对地通信卫星经过的卫星数量最少的路径；(d1) Among all the optional transmission paths, select the shortest path, the shortest path refers to the path with the least number of satellites passing through from the detection satellite that initiates the transmission request to the alternative destination ground communication satellite;
（d2）针对最短路径上的卫星的高速传输组件的空闲天线，根据卫星的位置信息、姿态信息、运行轨迹和天线指向范围，计算传输路径上的相邻卫星的天线指向之间是否能够对准；所述天线指向对准是指相邻卫星高速传输组件之间可以通过相互对准的天线实现探测数据传输，若不能实现探测数据传输则判断不能对准则；(d2) For the idle antenna of the high-speed transmission component of the satellite on the shortest path, calculate whether the antenna points of adjacent satellites on the transmission path can be aligned according to the satellite's position information, attitude information, operating trajectory and antenna pointing range ; The antenna pointing alignment means that the adjacent satellite high-speed transmission components can realize detection data transmission through antennas aligned with each other, and if the detection data transmission cannot be realized, it is judged that the criterion cannot be aligned;
（d3）若最短路径上所有卫星均满足所述步骤（d2）中的相邻卫星的天线能够对准的条件，则该最短路径作为最佳传输路径；(d3) If all the satellites on the shortest path meet the condition that the antennas of adjacent satellites in the step (d2) can be aligned, then the shortest path is taken as the best transmission path;
（d4）若最短路径上至少有1颗卫星不满足步骤（d2）中的相邻卫星的天线对准的条件，则在剩余可选传输路径中，选择最短路径，转入步骤（d2），直到选出最佳传输路径。(d4) If there is at least one satellite on the shortest path that does not meet the antenna alignment conditions of adjacent satellites in step (d2), select the shortest path among the remaining optional transmission paths and go to step (d2), until the best transmission path is selected.
（6）最佳传输路径上的各卫星的控制管理组件根据步骤（5）中计算的最佳传输路径生成控制信息，并将其发送至传输路径上的各卫星；(6) The control management component of each satellite on the optimal transmission path generates control information according to the optimal transmission path calculated in step (5), and sends it to each satellite on the transmission path;
（7）各卫星接收到步骤（6）中的控制信息，由其控制管理组件为探测数据传输分配传输资源（比如时隙分配），同时控制高速传输组件调整天线指向，并反馈确认信息（表示卫星已经按照控制消息执行相关操作的确认消息）至源节点，所述的源节点指最初产生控制消息的探测卫星；(7) Each satellite receives the control information in step (6), and its control management component allocates transmission resources for the detection data transmission (such as time slot allocation), and at the same time controls the high-speed transmission component to adjust the antenna pointing, and feeds back confirmation information (indicating A confirmation message that the satellite has performed related operations according to the control message) to the source node, where the source node refers to the detection satellite that initially generated the control message;
（8）当源节点接收传输路径上各卫星反馈的确认信息后，源节点向探测器发送数据传输指令，所述的数据传输指令包括传输速率和传输方式；(8) After the source node receives the confirmation information fed back by each satellite on the transmission path, the source node sends a data transmission command to the detector, and the data transmission command includes the transmission rate and transmission mode;
（9）探测器按照传输指令进行探测数据传输，探测数据通过步骤（5）中最佳传输路径上的卫星依次转发达到目的对地通信卫星；(9) The detector transmits the detection data according to the transmission instruction, and the detection data is sequentially forwarded by the satellites on the optimal transmission path in step (5) to reach the destination ground communication satellite;
（10）当探测器完成数据传输后，将探测数据传输完成指令发送至控制管理组件；(10) After the detector completes the data transmission, send the detection data transmission completion command to the control management component;
（11）目的对地通信卫星接收探测数据并存储于存储器中，当对地传输信道建立后，通过对地通信组件，将存储于存储器中的探测数据传输至地面站；(11) The destination ground communication satellite receives the detection data and stores it in the memory. When the ground transmission channel is established, the detection data stored in the memory is transmitted to the ground station through the ground communication component;
（12）探测卫星的控制管理组件向传输路径上各卫星发送路径拆除指令；(12) The control and management component of the detection satellite sends a path removal command to each satellite on the transmission path;
（13）各卫星根据接收到的拆链指令回收传输资源，探测数据传输任务完成。(13) Each satellite recovers the transmission resources according to the received link dismantling command, and the detection data transmission task is completed.
本发明未详细说明部分属于本领域技术人员公知常识。Parts not described in detail in the present invention belong to the common knowledge of those skilled in the art.
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