Inversion method of Martian atmospheric density, device and electronic equipment

Abstract

The present invention discloses a method for inverting the density of the Martian atmosphere, and its device and electronic equipment, which relate to the field of aviation measurement and control or other related technical fields. The method comprises: monitoring the operating status of a Mars probe in a Martian exploration orbit and collecting the operating data of the Mars probe; drawing an operation diagram of the Mars probe based on the operating data; utilizing the principle of height symmetry and calculating the energy attenuation of the Mars probe due to atmospheric resistance at the perigee and in each height symmetric interval on the operation diagram based on the operating data; inverting the average atmospheric density in each height symmetric interval of the Martian atmosphere based on the energy attenuation; and converting the average atmospheric density in each height symmetric interval to a specific altitude position to obtain the atmospheric density at each altitude position in the Martian atmosphere. The present invention solves the technical problem in the related art of inverting the Martian atmospheric density by expanding the inversion time interval, which results in low measurement and control accuracy.

Description

Technical Field

[0001] The present invention relates to the field of aerospace measurement and control or other related technical fields, and in particular to a method for inverting the density of the Martian atmosphere, a device thereof, and electronic equipment. Background Art

[0002] In the field of space measurement and control, especially for Mars exploration missions, understanding the characteristics of the Martian atmosphere is crucial to ensuring the safe operation of the probe. The Martian atmospheric environment not only affects the probe's orbit maintenance and adjustment, but also has a profound impact on the braking phase during landing and the trajectory design of the sample return mission. Accurate measurements of the Martian atmospheric density provide critical data support for the probe's trajectory design and control, ensuring that it can accurately execute its designated mission.

[0003] In related technologies, the density of the Martian atmosphere is inverted by expanding the inversion time interval. This method can obtain relatively accurate energy attenuation to a certain extent, but the consequence of this measurement and control method is that the altitude resolution of the inversion result will be reduced to tens of kilometers. Altitude resolution here refers to the ability of the inversion method to distinguish subtle changes in atmospheric density in the vertical direction. When the integration interval increases, the inversion calculation actually uses the average atmospheric density of the atmospheric layer segment passed by the detector during this time interval as the inversion output. If the detector passes through an atmospheric layer with an altitude span of tens of kilometers in this longer time period, then the inversion result will be a result that includes the average atmospheric density of the entire altitude interval, rather than the density value at a specific altitude. In a physical sense, this means that the final result is a relatively rough density distribution that cannot accurately describe the atmospheric changes at various altitudes, resulting in low measurement and control accuracy.

[0004] To address the above-mentioned problems, no effective solutions have been proposed so far. Summary of the Invention

[0005] An embodiment of the present invention provides a method for inverting the Martian atmospheric density, a device thereof, and an electronic device, so as to at least solve the technical problem in the related art of inverting the Martian atmospheric density by expanding the inversion time interval, resulting in low measurement and control accuracy.

[0006] According to one aspect of an embodiment of the present invention, a method for inverting the density of the Martian atmosphere is provided, comprising: monitoring the operating status of a Mars probe in a Mars exploration orbit and collecting operating data of the Mars probe; drawing an operating diagram of the Mars probe based on the operating data, wherein the altitude position of the perigee and the highly symmetric intervals of multiple Martian atmosphere layers are marked on the operating diagram; utilizing the principle of altitude symmetry and calculating, based on the operating data, the energy attenuation of the Mars probe due to atmospheric resistance at the perigee and in each highly symmetric interval on the operating diagram of the Mars probe; inverting the average atmospheric density in each highly symmetric interval of the Martian atmosphere based on the energy attenuation; and converting the average atmospheric density in each highly symmetric interval to a specific altitude position to obtain the atmospheric density at each altitude position of the Martian atmosphere.

[0007] Optionally, after drawing the operation diagram of the Mars probe based on the operation data, it also includes: determining the altitude position of the perigee and the flight time of the Mars probe passing the perigee based on the operation trajectory in the operation diagram; dividing the operation diagram into regions with the altitude position of the perigee as a reference position to obtain a plurality of altitude symmetric intervals and the flight time of the endpoints corresponding to each altitude symmetric interval, wherein the perigee is the lowest point of the operation diagram, and the operation diagram is symmetrically distributed on both sides with the perigee as the center, and the maximum height value of the altitude symmetric interval is less than or equal to the preset altitude threshold.

[0008] Optionally, the step of calculating the energy attenuation of the Mars probe due to atmospheric resistance in each highly symmetric interval on the operation diagram based on the operation data includes: for each of the highly symmetric intervals, determining the minimum altitude and maximum altitude of the highly symmetric interval; calculating the energy attenuation of the Mars probe passing through the minimum altitude twice in the highly symmetric interval to obtain a first energy attenuation; calculating the energy attenuation of the Mars probe passing through the maximum altitude twice in the highly symmetric interval to obtain a second energy attenuation; using the principle of highly symmetric calculation, calculating the difference between the first energy attenuation and the second energy attenuation, and obtaining the energy attenuation of the Mars probe in each highly symmetric interval based on the difference, wherein the principle of highly symmetric means that when the Mars probe operates on the Mars exploration orbit, it will pass through each highly symmetric interval twice, and the energy attenuation of passing through the highly symmetric interval twice is equal, and the average value of the energy attenuation of passing through the same highly symmetric interval twice is used as the energy attenuation of the Mars probe in the highly symmetric interval.

[0009] Optionally, the step of calculating the energy attenuation of the Mars probe when it passes the minimum altitude twice in the highly symmetric interval to obtain the first energy attenuation includes: determining the two endpoint flight times corresponding to the two times passing the minimum altitude in the operation diagram, and obtaining the operation data of the Mars probe at each endpoint flight time; calculating the energy value of the Mars probe at each endpoint flight time based on the operation data of the Mars probe at each endpoint flight time and the energy calculation formula; calculating the difference between the energy values ​​of the Mars probe at the two endpoint flight times, and obtaining the energy attenuation of the Mars probe when it passes the minimum altitude twice in the highly symmetric interval, and obtaining the first energy attenuation.

[0010] Optionally, the energy calculation formula is expressed as: Where m is the mass of the probe, v is the velocity of the probe, x and y are the positions of the probe, and ω is the angular velocity of Mars' rotation. represents the detector kinetic energy, V S and V M represents the gravitational potential energy of the Sun and Mars on the probe, Represents the rotational potential energy generated by Mars' rotation.

[0011] Optionally, the step of inverting the average atmospheric density in each highly symmetric interval of the Martian atmosphere based on the energy attenuation includes: calculating the average atmospheric density in each highly symmetric interval of the Martian atmosphere based on the energy attenuation of the Mars probe in each highly symmetric interval and an atmospheric density inversion formula, wherein the atmospheric density inversion formula is expressed as: ρ represents the average atmospheric density in each highly symmetrical interval of the Martian atmosphere, ΔE represents the energy attenuation of the Mars probe in each highly symmetrical interval, represents the work done by sunlight pressure, C D is the drag coefficient, A is the frontal area of ​​the probe, m is the mass of the Mars probe, v represents the running speed of the Mars probe, and Δt represents the time difference of the Mars probe passing through each highly symmetrical interval.

[0012] Optionally, the step of converting the average atmospheric density within each of the highly symmetric intervals to a specific height position includes: selecting multiple detection points within each of the highly symmetric intervals; calculating the atmospheric density of each detection point based on the relative atmospheric density formula; calculating the atmospheric density difference between the atmospheric density of each detection point and the average atmospheric density of the highly symmetric interval, and selecting the detection point with the smallest atmospheric density difference as the target detection point of the highly symmetric interval; converting the average atmospheric density within the highly symmetric interval to the height position corresponding to the target detection point of the highly symmetric interval.

[0013] Alternatively, the relative atmospheric density formula is expressed as: Among them, ρ0 and ρ z are the atmospheric densities at altitudes z0 and z respectively, m is the average molecular mass, g is the acceleration due to gravity, R is the ideal gas constant, and T is the temperature.

[0014] According to another aspect of an embodiment of the present invention, a device for inverting the density of the Martian atmosphere is also provided, including: an acquisition unit for monitoring the operating status of a Mars probe in a Mars exploration orbit and acquiring operating data of the Mars probe; a drawing unit for drawing an operating diagram of the Mars probe based on the operating data, wherein the altitude position of the perigee and the highly symmetric intervals of multiple Martian atmosphere layers are marked on the operating diagram; a calculation unit for calculating, by utilizing the principle of altitude symmetry and based on the operating data, the energy attenuation of the Mars probe due to atmospheric resistance at the perigee and in each highly symmetric interval on the operating diagram; an inversion unit for inverting the average atmospheric density in each highly symmetric interval of the Martian atmosphere based on the energy attenuation; and a reduction unit for reducing the average atmospheric density in each highly symmetric interval to a specific altitude position to obtain the atmospheric density at each altitude position of the Martian atmosphere.

[0015] Optionally, the inversion device for the Martian atmospheric density also includes: a first determination module, used to determine the altitude position of the perigee and the flight time of the Mars probe passing through the perigee based on the operation trajectory in the operation diagram; a first division module, used to divide the operation diagram into regions with the altitude position of the perigee as a reference position, and obtain a plurality of the highly symmetric intervals and the endpoint flight times corresponding to each of the highly symmetric intervals, wherein the perigee is the lowest point of the operation diagram, and the operation diagram is symmetrically distributed on both sides with the perigee as the center, and the maximum height value of the highly symmetric interval is less than or equal to the preset height threshold.

[0016] Optionally, the calculation unit includes: a second determination module, used to determine, for each of the highly symmetric intervals, that the highly symmetric interval passes through the minimum height and the maximum height twice; a first calculation module, used to calculate the energy attenuation of the Mars probe when it passes through the minimum height twice in the highly symmetric interval, and obtain a first energy attenuation; a second calculation module, used to calculate the energy attenuation of the Mars probe when it passes through the maximum height twice in the highly symmetric interval, and obtain a second energy attenuation; a third calculation module, used to calculate the difference between the first energy attenuation and the second energy attenuation using the principle of highly symmetry, and obtain the energy attenuation of the Mars probe in each highly symmetric interval based on the difference, wherein the principle of highly symmetry means that when the Mars probe is running on the Mars exploration orbit, it will pass through each highly symmetric interval twice, and the energy attenuation of passing through the highly symmetric interval twice is equal, and the average value of the energy attenuation of passing through the same highly symmetric interval twice is used as the energy attenuation of the Mars probe in the highly symmetric interval.

[0017] Optionally, the first calculation module includes: a first acquisition submodule, used to determine the two endpoint flight times corresponding to the two passes through the minimum altitude in the operation diagram, and obtain the operation data of the Mars probe at each endpoint flight time; a first calculation submodule, used to calculate the energy value of the Mars probe at each endpoint flight time based on the operation data of the Mars probe at each endpoint flight time and the energy calculation formula; a second calculation submodule, used to calculate the difference in energy values ​​of the Mars probe at the two endpoint flight times, obtain the energy attenuation of the Mars probe passing the minimum altitude twice in the highly symmetric interval, and obtain the first energy attenuation.

[0018] Optionally, the energy calculation formula is expressed as: Where m is the mass of the probe, v is the velocity of the probe, x and y are the positions of the probe, and ω is the angular velocity of Mars' rotation. represents the detector kinetic energy, V S and V M represents the gravitational potential energy of the Sun and Mars on the probe, Represents the rotational potential energy generated by Mars' rotation.

[0019] Optionally, the inversion unit includes: a fourth calculation module, configured to calculate the average atmospheric density in each highly symmetric interval of the Martian atmosphere based on the energy attenuation of the Mars probe in each highly symmetric interval and an atmospheric density inversion formula, wherein the atmospheric density inversion formula is expressed as: ρ represents the average atmospheric density in each highly symmetrical interval of the Martian atmosphere, ΔE represents the energy attenuation of the Mars probe in each highly symmetrical interval, represents the work done by sunlight pressure, C Dis the drag coefficient, A is the frontal area of ​​the probe, m is the mass of the Mars probe, v represents the running speed of the Mars probe, and Δt represents the time difference of the Mars probe passing through each highly symmetrical interval.

[0020] Optionally, the reduction unit includes: a first selection module, used to select multiple detection points within each of the highly symmetrical intervals; a fifth calculation module, used to calculate the atmospheric density of each detection point based on the relative atmospheric density formula; a second selection module, used to calculate the atmospheric density difference between the atmospheric density of each detection point and the average atmospheric density of the highly symmetrical interval, and select the detection point with the smallest atmospheric density difference as the target detection point of the highly symmetrical interval; the first reduction module, used to reduce the average atmospheric density within the highly symmetrical interval to the height position corresponding to the target detection point of the highly symmetrical interval.

[0021] Alternatively, the relative atmospheric density formula is expressed as: Among them, ρ0 and ρ z are the atmospheric densities at altitudes z0 and z respectively, m is the average molecular mass, g is the acceleration due to gravity, R is the ideal gas constant, and T is the temperature.

[0022] According to another aspect of an embodiment of the present invention, an electronic device is also provided, comprising one or more processors and a memory, wherein the memory is used to store one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement any one of the above-mentioned methods for inverting the density of the Martian atmosphere.

[0023] In this application, the following steps are taken: monitoring the operating status of the Mars rover in the Mars exploration orbit, collecting the operating data of the Mars rover, and drawing an operating diagram of the Mars rover based on the operating data, wherein the altitude position of the perigee and the highly symmetric intervals of multiple Martian atmosphere layers are marked in the operating diagram, and then using the principle of altitude symmetry and based on the operating data, the energy attenuation of the Mars rover due to atmospheric resistance at the perigee and each highly symmetric interval on the operating diagram is calculated, and based on the energy attenuation, the average atmospheric density in each highly symmetric interval of the Martian atmosphere is inverted, and finally the average atmospheric density in each highly symmetric interval is converted to a specific altitude position to obtain the atmospheric density at each altitude position of the Martian atmosphere.

[0024] In this application, the operation data of the Mars rover in the Mars exploration orbit is collected in real time, and the density of the Martian atmosphere is inverted based on the real-time operation data. When inverting the density of the Martian atmosphere, a highly symmetrical method is used, which can invert the atmospheric density within a shorter time interval and a smaller altitude range, thereby achieving the purpose of improving the height resolution of the atmospheric density inversion and achieving the technical effect of improving the measurement and control accuracy of the Martian atmospheric density, thereby solving the technical problem in the related technology of inverting the Martian atmospheric density by expanding the inversion time interval, which has the disadvantage of low measurement and control accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0026] Figure 1 is a flow chart of an optional method for inverting the density of the Martian atmosphere according to an embodiment of the present invention;

[0027] Figure 2 is an optional operation diagram of a Mars probe according to an embodiment of the present invention;

[0028] Figure 3 is a schematic diagram of an optional inversion principle of the Martian atmospheric density according to an embodiment of the present invention;

[0029] Figure 4 is a schematic diagram of an optional inversion process of the Martian atmospheric density according to an embodiment of the present invention;

[0030] Figure 5 is a schematic diagram of an optional highly symmetric inversion process according to an embodiment of the present invention;

[0031] Figure 6 is a schematic diagram of an optional inversion device for the Martian atmospheric density according to an embodiment of the present invention;

[0032] Figure 7 This is a hardware structure block diagram of an electronic device (or mobile device) for an inversion method of Martian atmospheric density according to an embodiment of the present invention. DETAILED DESCRIPTION

[0033] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0034] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0035] To facilitate those skilled in the art to understand the present invention, some of the terms or nouns involved in the embodiments of the present invention are explained below:

[0036] The Mars Atmosphere and Volatile Evolution mission, MAVEN for short, is a Mars exploration project used to study the upper atmosphere of Mars, especially the atmospheric escape process and the interaction of the Martian atmosphere with the solar wind.

[0037] MarsGram, a numerical model for simulating and predicting the state of the Martian atmosphere.

[0038] It should be noted that the inversion method and device for the Martian atmospheric density in this application can be used in the field of aerospace measurement and control technology. When the Martian atmospheric density is inverted based on the highly symmetric method, it can also be used in any field other than the field of aerospace measurement and control. When the Martian atmospheric density is inverted based on the highly symmetric method, the application field of the inversion method and device for the Martian atmospheric density in this application is not limited.

[0039] It should be noted that the relevant information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are information and data authorized by the user or fully authorized by all parties, and the collection, storage, use, processing, transmission, provision, disclosure and application of the relevant data comply with the relevant laws, regulations and standards of the relevant regions, take necessary confidentiality measures, do not violate public order and good morals, and provide corresponding operation entrances for users to choose to authorize or refuse. For example, an interface is set up between this system and the relevant users or institutions. Before obtaining relevant information, it is necessary to send an acquisition request to the aforementioned user or institution through the interface, and obtain the relevant information after receiving the consent information fed back by the aforementioned user or institution.

[0040] It should be noted that in this application, when collecting and analyzing customer information, corresponding operation entrances are provided for users to choose to agree or reject the automated decision-making results; if the user chooses to reject, the expert decision-making process will be entered.

[0041] The following embodiments of the present invention can be applied to various Martian atmospheric density inversion systems, applications, and devices. By creating an operational diagram and employing a highly symmetric method, the present invention can invert the Martian atmospheric density within a shorter time interval and a smaller altitude range. This significantly improves the altitude resolution of the atmospheric density inversion, providing a more detailed atmospheric density altitude profile, thereby enhancing measurement and control precision and improving the accuracy of the measurement and control results.

[0042] By accurately calculating the energy attenuation of the probe due to atmospheric drag in a large elliptical orbit, this scheme can more accurately reflect the impact of atmospheric density on the aircraft, thereby improving the accuracy of the inverted density value.

[0043] When calculating the average atmospheric density on the Martian surface, this method not only considers the orbital accuracy of the endpoints within a highly symmetric interval of the Martian atmosphere, but also fully utilizes orbital data at all times within that interval, enhancing the stability and reliability of the inversion results. Furthermore, by converting the average atmospheric density to a fixed altitude, this method overcomes the unclear physical meaning of the average density in traditional inversion methods, providing density data with clear physical meaning for spacecraft orbit design and control.

[0044] The present invention will be described in detail below with reference to various embodiments.

[0045] Example 1

[0046] According to an embodiment of the present invention, an embodiment of a method for inverting the density of the Martian atmosphere is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0047] Figure 1 is a flow chart of an optional method for inverting the density of the Martian atmosphere according to an embodiment of the present invention, such as Figure 1 As shown, the method includes the following steps:

[0048] Step S101: monitor the operating status of the Mars probe in the Mars exploration orbit and collect the operating data of the Mars probe.

[0049] It should be noted that a Mars rover is a spacecraft specially designed to explore Mars. It carries a variety of scientific instruments and equipment and can perform multiple missions such as orbital flight, landing, and patrol to study the geological structure, atmospheric environment, hydrological history, and potential signs of life on Mars.

[0050] Furthermore, a Mars exploration orbit refers to the orbital path a Mars rover takes around Mars. Depending on the mission, a rover may adopt various orbital modes: a highly elliptical orbit, in which the rover's orbit is elliptical, with a significant altitude difference between perigee (the closest point to the Martian surface) and aphelion (the farthest point). This orbit allows the rover to conduct high-resolution observations at perigee and low-resolution but wide-area observations at aphelion, while also utilizing Mars' gravity for orbital maneuvers and saving fuel. A polar orbit, with an inclination of 90 degrees, passes over the Martian North and South Poles, enabling uniform global coverage of Mars. A low orbit, closer to the Martian surface, allows for high-resolution observations but requires more fuel to combat atmospheric drag and maintain the orbit. A high orbit, farther from the Martian surface, is suitable for global observations and communications relay, while also consuming less fuel. While operating in a Mars exploration orbit, a Mars rover can transition between different orbits to accommodate different exploration phases and mission requirements. For example, the probe may first conduct preliminary global observations in a high orbit, and then lower it to a low orbit or a highly elliptical orbit through orbital maneuvers to conduct more detailed Mars exploration.

[0051] Inverting the Martian atmospheric density based on the probe's orbital data to obtain accurate Martian atmospheric density values ​​can provide important data support for the Mars probe's orbital design, landing braking, and sample return trajectory design, and is of great significance to Mars exploration. In the above-mentioned step S101, when inverting the Martian atmospheric density, it is first necessary to continuously monitor the operating status of the Mars probe and collect real-time operating data of the Mars probe in the Mars exploration orbit, including key information such as its position, velocity, and orbital parameters. This ensures that all inversion calculations are performed based on accurate probe orbital status data, thereby improving the accuracy of the atmospheric density inversion.

[0052] Step S102: draw an operation diagram of the Mars probe based on the operation data.

[0053] In step S102, a Mars rover operation diagram is drawn based on the rover's real-time operation data. This diagram clearly displays the rover's position changes on the Mars exploration orbit, including its latitude, longitude, and orbital altitude. This allows for a more intuitive presentation of the rover's operating status in atmospheric environments at different altitudes, providing a visual reference and data foundation for subsequent atmospheric density inversion. The diagram marks the altitude position of the perigee and the highly symmetric intervals of multiple Martian atmospheric layers. Generally speaking, the Martian atmosphere is very thin above 300 km. The perigee and the multiple highly symmetric intervals within the altitude threshold are important areas for atmospheric density inversion.

[0054] Figure 2 is an optional operation diagram of a Mars probe according to an embodiment of the present invention, such as Figure 2 As shown, the operation diagram uses time as the horizontal axis and operation altitude as the vertical axis. Operation altitude refers to the height of the Mars rover from the Martian surface. Related technologies use energy decay over a larger time range, such as [t1, t2], to invert the atmospheric density within the altitude range [h1, h2]. Because the Martian atmosphere is very thin above 300 km, energy changes only occur when the rover passes near perigee, a point where the probe passes through perigee for a very short period of time. For example, MAVEN's orbits below 300 km last only 700 to 900 seconds. Shorter force exposure times result in lower energy consumption. Therefore, traditional methods for inverting perigee atmospheric density can only obtain a more accurate energy decay by increasing the integration interval [t1, t2]. This results in an altitude resolution of tens of kilometers, resulting in an average atmospheric density within a large, symmetric range of altitudes. This ultimately results in a relatively rough density distribution that cannot accurately describe atmospheric variations at various altitudes, leading to low measurement and control accuracy.

[0055] Optionally, after drawing the operation diagram of the Mars rover based on the operation data, it also includes: determining the altitude position of the perigee and the flight time of the Mars rover passing the perigee based on the operation trajectory in the operation diagram; dividing the operation diagram into regions with the altitude position of the perigee as a reference position, and obtaining multiple highly symmetrical intervals and the endpoint flight times corresponding to each highly symmetrical interval, wherein the perigee is the lowest point of the operation diagram, and the operation diagram is symmetrically distributed on both sides with the perigee as the center, and the maximum height value of the highly symmetrical interval is less than or equal to the preset height threshold.

[0056] In some embodiments, after drawing an operation diagram of the Mars rover based on the operation data, the operation trajectory of the Mars rover is divided into intervals through the operation diagram to support more detailed and accurate atmospheric density inversion analysis. Specifically, the altitude position of the perigee and the flight time of the Mars rover passing the perigee are determined by the lowest point of the operation diagram, and the perigee is used as the reference position to divide the operation trajectory into multiple highly symmetrical intervals. Since the operation trajectory of the Mars rover is symmetrically distributed with the perigee as the center point, each highly symmetrical interval corresponds to four endpoint flight times. In addition, when the operation altitude reaches a certain threshold, the Martian atmosphere is thin, which has no practical significance for studying the density of the Martian atmosphere. Therefore, the selected highly symmetrical intervals are all within the preset altitude threshold range.

[0057] It should be noted that the purpose of regional division is to decompose the operation diagram into several symmetrical sub-regions to facilitate the accurate inversion of the atmospheric density at various altitudes.

[0058] Step S103 , using the principle of height symmetry and based on the operation data, calculates the energy attenuation of the Mars probe due to atmospheric resistance at the perigee and in each height symmetry interval on the operation diagram.

[0059] In the above step S103, after successfully drawing the operation diagram of the Mars probe based on the operation data, the principle of high symmetry is further used to analyze the energy attenuation of the probe affected by atmospheric resistance near the perigee and in various high symmetry intervals of its operation. Energy attenuation is the basis for inverting atmospheric density. Figure 3 This is a schematic diagram of an optional inversion principle of the Martian atmospheric density according to an embodiment of the present invention. Based on the defect of the related art that the atmospheric density is inverted by increasing the integral interval, which leads to low altitude resolution accuracy, this application proposes to calculate the energy attenuation of the Mars probe in various altitude ranges by using a highly symmetric method, such as Figure 3 As shown in the figure, the Mars rover will pass through the same altitude twice while orbiting in its Mars exploration orbit. When the rover passes near perigee, the orbital altitude changes rapidly, while the latitude and longitude change less. There are two time intervals before and after perigee, [t2, t1] and [t'1, t'2], and the corresponding rover altitude change range is [h1, h2]. Therefore, the average atmospheric density of the Mars rover in the two time intervals [t2, t1] and [t'1, t'2] is almost the same, and the energy attenuation caused by atmospheric drag is also almost the same. Therefore, the two energy attenuations of the rover in the same altitude range in the two time intervals can be used to invert the average atmospheric density in that altitude range, which can improve the altitude resolution of the inversion result.

[0060] Optionally, the step of calculating the energy attenuation of the Mars probe due to atmospheric resistance in each highly symmetric interval on the operation diagram based on the operation data includes: for each highly symmetric interval, determining the minimum altitude and maximum altitude of the highly symmetric interval; calculating the energy attenuation of the Mars probe passing through the minimum altitude twice in the highly symmetric interval to obtain a first energy attenuation; calculating the energy attenuation of the Mars probe passing through the maximum altitude twice in the highly symmetric interval to obtain a second energy attenuation; using the principle of highly symmetric calculation, calculating the difference between the first energy attenuation and the second energy attenuation, and obtaining the energy attenuation of the Mars probe in each highly symmetric interval based on the difference, wherein the principle of highly symmetric means that when the Mars probe is operating on the Mars exploration orbit, it will pass through each highly symmetric interval twice, and the energy attenuation of passing through the highly symmetric interval twice is equal, and the average value of the energy attenuation of passing through the same highly symmetric interval twice is used as the energy attenuation of the Mars probe in the highly symmetric interval.

[0061] Specifically, when calculating the energy attenuation within each height symmetry interval, the maximum height and minimum height of each height symmetry interval are first determined, and the energy attenuation when the Mars rover passes through the minimum height and maximum height twice is calculated respectively to obtain the first energy attenuation and the second energy attenuation. According to the height symmetry principle, the Mars rover will pass through the height symmetry interval within two time intervals. Therefore, the average value of the first energy attenuation and the second energy attenuation is used as the energy attenuation of the Mars rover passing through the height symmetry interval.

[0062] Through the above steps, the highly symmetric method can be used to invert the Martian atmospheric density within a shorter time interval and a smaller altitude range, which significantly improves the altitude resolution of the atmospheric density inversion and provides a more detailed atmospheric density altitude profile, thereby improving the measurement and control accuracy and the accuracy of the measurement and control results.

[0063] Optionally, the energy attenuation of the Mars rover passing through the minimum altitude twice in the highly symmetric interval to obtain the first energy attenuation includes: determining the two endpoint flight times corresponding to the two passing through the minimum altitude in the operation diagram, and obtaining the operation data of the Mars rover at each endpoint flight time; calculating the energy value of the Mars rover at each endpoint flight time based on the operation data of the Mars rover at each endpoint flight time and the energy calculation formula; calculating the difference between the energy values ​​of the Mars rover at the two endpoint flight times, and obtaining the energy attenuation of the Mars rover passing through the minimum altitude twice in the highly symmetric interval, and obtaining the first energy attenuation.

[0064] In some embodiments, when calculating the energy attenuation at the minimum altitude, the method specifically includes: finding the two endpoint flight times corresponding to the minimum altitude in the operation diagram, where these two times correspond to the times when the Mars probe enters and leaves the minimum altitude, respectively. This locks the time range for the energy attenuation calculation and ensures that the energy change is caused by the Martian atmospheric drag acting on the probe. Then, based on the endpoint flight times, the operation data of the Mars probe at each endpoint flight time is extracted from the operation data, including but not limited to position, speed, attitude, and mass. These operation data are the basis for calculating energy attenuation, and accurate data can ensure the reliability of the calculation results. Then, according to the energy calculation formula, the energy value of each endpoint flight time is calculated, and the difference between the energy values ​​of the two endpoint flight times is calculated to obtain the energy attenuation caused by atmospheric drag during the time when the Mars probe passes the minimum altitude within a certain symmetrical altitude interval twice. Similarly, by following the above energy attenuation calculation steps, the energy attenuation caused by atmospheric drag during the time when the Mars probe passes the maximum altitude within a certain symmetrical altitude interval twice can also be calculated.

[0065] Optionally, the energy calculation formula is expressed as: Among them, m represents the mass of the Mars rover, v represents the speed of the Mars rover, x and y represent the position of the Mars rover, ω is the angular velocity of Mars rotation, Represents the kinetic energy of the Mars probe, V S and V M represents the gravitational potential energy of the Sun and Mars on the Mars probe, Represents the rotational potential energy generated by Mars' rotation.

[0066] In some embodiments, the energy attenuation of the Mars probe in a highly symmetric interval is the basis for inverting the atmospheric density. The energy attenuation is calculated based on the energy value of the Mars probe at each specific moment. The operating data of the Mars probe at each endpoint flight time is substituted into the energy calculation formula to calculate the energy value of the Mars probe at each endpoint flight time. The specific energy calculation formula can be expressed as: That is, the energy value is composed of the kinetic energy of the Mars rover, the gravitational potential energy of the sun and Mars on the Mars rover, and the rotational potential energy generated by the rotation of Mars.

[0067] Step S104: invert the average atmospheric density in each highly symmetric interval of the Martian atmosphere based on energy attenuation.

[0068] It should be noted that after calculating the energy attenuation of the Mars probe passing through each highly symmetric interval, the average atmospheric density in each highly symmetric interval of the Martian atmosphere can be inverted based on the energy attenuation value.

[0069] Optionally, the step of inverting the average atmospheric density in each highly symmetric interval of the Martian atmosphere based on energy attenuation includes: calculating the average atmospheric density in each highly symmetric interval of the Martian atmosphere based on the energy attenuation of the Mars probe in each highly symmetric interval and an atmospheric density inversion formula, wherein the atmospheric density inversion formula is expressed as: ρ represents the average atmospheric density in each highly symmetrical interval of the Martian atmosphere, and ΔE represents the energy attenuation of the Mars probe in each highly symmetrical interval. represents the work done by sunlight pressure, C D is the drag coefficient, A is the frontal area of ​​the probe, m is the mass of the Mars probe, v represents the running speed of the Mars probe, and Δt represents the time difference of the Mars probe passing through each highly symmetrical interval.

[0070] Specifically, a Mars rover is subject to the gravitational pull of the celestial center and other perturbations while operating in its orbit. These perturbations are categorized as conservative and non-conservative. The rover's mechanical energy is conserved under conservative forces, while non-conservative forces cause it to change. For a Mars rover orbiting around Mars, the non-conservative forces are primarily atmospheric drag and the perturbation of light pressure. The perturbation of light pressure can be accurately calculated using a radiation light pressure model. Therefore, the Martian atmospheric density can be inverted by calculating the decay of the rover's energy. The total energy of the Mars rover can be expressed in the Mars-fixed coordinate system as Equation (1).

[0071]

[0072] in, represents the detector kinetic energy, V S and V M represents the gravitational potential energy of the Sun and Mars, represents the rotational potential energy generated by the rotation of Mars, ω is the angular velocity of Mars rotation, (x, y) represents the position coordinates of the Mars probe, and E n Represents the work done by non-conservative force. E n It can be expressed as the integration of atmospheric drag and solar pressure on the Mars exploration orbit path, as shown in formula (2).

[0073] E n =∫f drag ·vdt+∫f solar ·vdt (2)

[0074] The work done by the non-conservative force in a certain time period is equal to the change in the mechanical energy of the detector. The mechanical energy of the detector at time t0 and t1 is recorded as E0 and E1 respectively. In the time interval Δt = t1-t0, the work done by the non-conservative force is E1-E0, where the work done by the atmospheric resistance can be expressed as formula (3), C D is the atmospheric drag coefficient.

[0075]

[0076] Finally, substituting equation (3) into equation (1), the inversion formula for the Martian atmospheric density can be expressed as equation (4). In the perigee region, the Martian atmospheric density is about 0.5 to 4 kg / km 3 , A is the frontal area of ​​the detector, which belongs to the transition flow field of rarefied gas. The drag coefficient C is calculated using Monte Carlo simulation and free molecular flow method. D About 2.13.

[0077]

[0078] Combined with formula (4), after calculating the energy attenuation of the Mars probe in each highly symmetrical interval of the Martian atmosphere, the energy attenuation value is entered into formula (4) to invert the average atmospheric density in each highly symmetrical interval of the Martian atmosphere, that is, ρ represents the average atmospheric density in each highly symmetrical interval of the Martian atmosphere, and ΔE represents the energy attenuation of the Mars probe in each highly symmetrical interval. represents the work done by sunlight pressure, C D is the drag coefficient, A is the frontal area of ​​the probe, m is the mass of the Mars probe, v represents the running speed of the Mars probe, and Δt represents the time difference of the Mars probe passing through each highly symmetrical interval.

[0079] Based on the above steps S103 and S104, Figure 3 As shown, the time of the near-fire point is determined as t p , height of perihelion p ,The first step is to find the orbit height h1 before and after the perigee corresponding to the time t1 and t'1, calculate the corresponding detector energy E1 and E'1, calculate the energy attenuation of the two passes through h1 according to the energy attenuation ΔE1=E1-E1', and invert t p Height at time h p The density ρ at p ; The second step is to find the next orbital height h2 outside the interval [t1, t'1], corresponding to time t2 and t'2, and calculate the corresponding detector energies E2 and E'2. The energy decay from t2 to t'2 is ΔE2 = E2-E''. Therefore, according to the principle of height symmetry, the energy decay from t2 to t1 is According to ΔE 21 Invert the average density ρ in the range h1-h2 12 ; The third step is to repeat the second step and keep looking for [t i , t' i ]The next orbit height outside the interval h i+1 , until the orbit height reaches the preset height threshold, then the inversion stops. Through the above steps, h p,h1-h2,h2-h3,……,h n-1 -h n The density of the atmosphere over a range of altitudes.

[0080] Step S105 , converting the average atmospheric density within each highly symmetrical interval to a specific altitude position to obtain the atmospheric density at each altitude position in the Martian atmosphere.

[0081] The highly symmetric method uses two energy decays within a highly symmetric interval to invert the average atmospheric density of the highly symmetric interval. The inversion resolution can be significantly improved, but there are still two problems: first, the inversion result only represents the average atmospheric density of a certain altitude range. Since the atmospheric density changes rapidly with altitude, the physical meaning of the atmospheric density averaged along the altitude is unclear; second, the calculation of the energy decay within an interval depends on the orbital accuracy at the interval endpoint, and the orbital data at all times within the interval are not fully utilized. To solve these two problems, in the above step S105, after successfully inverting and calculating the average atmospheric density of the Mars probe in each highly symmetric interval, the average atmospheric density is converted to a specific altitude position, which effectively solves the problem of the ambiguous physical meaning of the average density value and significantly improves the spatiotemporal resolution and accuracy of the atmospheric density inversion result.

[0082] Specifically, using a Martian atmospheric model, such as MarsGram, the atmospheric density at each specific altitude within a highly symmetric interval is calculated point by point. The point closest to the average atmospheric density within that highly symmetric interval is then selected and normalized to the specific altitude, yielding the atmospheric density at each altitude within the Martian atmosphere.

[0083] Optionally, the step of converting the average atmospheric density within each highly symmetrical interval to a specific height position includes: selecting multiple detection points within each highly symmetrical interval; calculating the atmospheric density of each detection point based on the relative atmospheric density formula; calculating the atmospheric density difference between the atmospheric density of each detection point and the average atmospheric density of the highly symmetrical interval, and selecting the detection point with the smallest atmospheric density difference as the target detection point of the highly symmetrical interval; converting the average atmospheric density within the highly symmetrical interval to the height position corresponding to the target detection point of the highly symmetrical interval.

[0084] It should be noted that the embodiment of the present invention defines a relative atmospheric density formula, which can calculate the atmospheric density at each height position through the relative relationship between each position. Specifically, in each highly symmetrical interval, multiple detection points are evenly selected, and these points should cover the entire height range of the interval to ensure that there are enough data points in the highly symmetrical interval for accurate comparison, avoiding the reduction error caused by improper point selection. Based on the relative atmospheric density formula, the atmospheric density value corresponding to each selected detection point is calculated using the height position and atmospheric density of the near-fire point as reference values. The relative atmospheric density formula takes into account factors such as the change of gravity field with height, atmospheric composition and temperature, and can more accurately predict the atmospheric density at a specific height. This step provides a data basis for the subsequent calculation of atmospheric density differences.

[0085] Furthermore, the calculated atmospheric density values ​​for each detection point are compared with the average atmospheric density value within the highly symmetric interval, and the difference between the two is calculated. The detection point with the smallest atmospheric density difference is selected as the target detection point within the highly symmetric interval. This quantitative analysis of the difference ensures that the altitude of the target detection point most accurately reflects the characteristics of the average atmospheric density, improving the accuracy of the reduction process.

[0086] Alternatively, the relative atmospheric density formula is expressed as: Among them, ρ0 and ρ z are the atmospheric densities at altitudes z0 and z respectively, m is the average molecular mass, g is the acceleration due to gravity, R is the ideal gas constant, and T is the temperature.

[0087] Finally, the relative atmospheric density formula uses the altitude of a known atmospheric density as a reference point. Based on the altitude and atmospheric density of the reference point, the atmospheric density of each detection point can be calculated. Specifically, it is expressed as: The above ρ0 and ρ z are the atmospheric densities at altitudes z0 and z respectively (ρ0 can be selected near the fire point), m is the average molecular mass, g is the acceleration due to gravity, R is the ideal gas constant, and T is the temperature.

[0088] By converting the average atmospheric density within a highly symmetric interval to a specific altitude, the present invention not only considers the orbital accuracy of the endpoints within the highly symmetric interval when calculating the average atmospheric density on the Martian surface, but also fully utilizes the orbital data at all times within the highly symmetric interval, enhancing the stability and reliability of the inversion results. This overcomes the unclear physical meaning of the average density in traditional inversion methods and provides density data with clear physical meaning for spacecraft orbit design and control.

[0089] Through the above steps, the operating status of the Mars rover in the Mars exploration orbit is monitored, and the operating data of the Mars rover is collected, and an operating diagram of the Mars rover is drawn based on the operating data, wherein the altitude position of the perigee and the highly symmetric intervals of multiple Martian atmosphere layers are marked in the operating diagram. Then, the energy attenuation of the Mars rover due to atmospheric resistance at the perigee and each highly symmetric interval on the operating diagram is calculated based on the operating data by using the principle of altitude symmetry. The average atmospheric density in each highly symmetric interval of the Martian atmosphere is inverted based on the energy attenuation. Finally, the average atmospheric density in each highly symmetric interval is converted to a specific altitude position to obtain the atmospheric density at each altitude position of the Martian atmosphere.

[0090] In this embodiment, the operation data of the Mars probe in the Mars exploration orbit is collected in real time, and the Martian atmospheric density is inverted based on the real-time operation data. When inverting the Martian atmospheric density, a highly symmetric method is used, which can invert the atmospheric density within a shorter time interval and a smaller altitude range, thereby achieving the purpose of improving the height resolution of the atmospheric density inversion and the technical effect of improving the measurement and control accuracy of the Martian atmospheric density, thereby solving the technical problem in the related technology of inverting the Martian atmospheric density by expanding the inversion time interval, which has the disadvantage of low measurement and control accuracy.

[0091] The following describes in detail another optional specific implementation.

[0092] The embodiment of the present invention proposes an atmospheric density inversion method that can be widely applied to various types of orbits. The method can improve the temporal and spatial resolution and accuracy of atmospheric density inversion. Figure 4 is a schematic diagram of an optional inversion process of the Martian atmospheric density according to an embodiment of the present invention, such as Figure 4 As shown in Figure 2, the inversion process of the Martian atmospheric density includes:

[0093] Step 1: Calculate the energy attenuation of the detector due to atmospheric resistance;

[0094] While orbiting Mars, a Mars rover is subject to the gravitational pull of the celestial center and other perturbations, which are classified as conservative and non-conservative. The rover's mechanical energy is conserved under conservative forces, while non-conservative forces cause it to change. For a Mars rover orbiting Mars (i.e., a Mars rover), the non-conservative forces are primarily atmospheric drag and the perturbation of light pressure. The perturbation of light pressure can be accurately calculated using a radiation light pressure model. Therefore, the Martian atmospheric density can be inverted by calculating the rover's energy decay. The rover's total energy can be expressed in the Mars-solid coordinate system as Equation (1).

[0095]

[0096] in, represents the detector kinetic energy, V S and V M represents the gravitational potential energy of the Sun and Mars, represents the rotational potential energy generated by the rotation of Mars, ω is the angular velocity of Mars rotation, (x, y) represents the position coordinates of the Mars probe, and E n Represents the work done by non-conservative force. E n It can be expressed as the integration of atmospheric drag and sunlight pressure on the orbital path (Mars exploration orbital path), as shown in formula (2).

[0097] E n =∫f drag ·vdt+∫f solar ·vdt (2)

[0098] The work done by the non-conservative force in a certain time period is equal to the change in the mechanical energy of the detector. The mechanical energy of the detector at time t0 and t1 is recorded as E0 and E1 respectively. In the time interval Δt = t1-t0, the work done by the non-conservative force is E1-E0, where the work done by the atmospheric resistance can be expressed as formula (3), C D is the atmospheric drag coefficient.

[0099]

[0100] Therefore, substituting equation (3) into equation (1), the atmospheric density can be written as equation (4). In the perigee region, the atmospheric density of Mars is about 0.5 to 4 kg / km 3 , A is the frontal area of ​​the detector, which belongs to the transition flow field of rarefied gas. The drag coefficient C is calculated using Monte Carlo simulation and free molecular flow method. D About 2.13.

[0101]

[0102] Step 2: Use the height symmetry method to invert the average atmospheric density within a certain height symmetry interval;

[0103] In formula (4), ρ represents the average atmospheric density on the satellite path within the Δt time interval. The selection of Δt depends on the orbital accuracy of the probe and the size of ρ itself. That is, the larger ρ is, the higher the orbital accuracy is, and the smaller the value of Δt can be. Since the Martian atmosphere is very thin above 300 km, the energy of the probe changes only when it passes near the perigee. The time the probe passes through the perigee is very short. Taking MAVEN as an example, the time it runs below 300 km for each orbit is only 700 to 900 seconds. According to the non-conservative force energy consumption formula (2), the shorter the force time, the smaller the energy consumption. Therefore, when inverting the atmospheric density at the perigee, the traditional method can only obtain a more accurate energy attenuation by increasing the integration interval [t1, t2]. As a result, the height resolution of the inversion result reaches tens of kilometers, and the inversion accuracy is low. Since the atmospheric density changes rapidly with altitude, the average atmospheric density in a large altitude symmetric interval loses its physical meaning and engineering application value. In order to improve the inversion resolution, the embodiment of the present invention proposes to invert the atmospheric density of the same altitude symmetric interval using two energy attenuations based on the altitude symmetry principle.

[0104] When the probe passes near the perigee, the orbital altitude changes rapidly, while the changes in latitude and longitude are small, such as Figure 3 As shown, there are two time intervals [t2, t1] and [t'1, t'2] before and after the fire approach. The corresponding detector altitude ranges are both [h1, h2]. The corresponding average atmospheric density is almost the same, and the energy attenuation caused by atmospheric drag is also almost the same. Therefore, the two energy attenuations of the detector in the same altitude range in the two time intervals can be used to invert the average atmospheric density in the altitude range, significantly improving the altitude resolution of the inversion results.

[0105] Figure 5 is a schematic diagram of an optional highly symmetric inversion process according to an embodiment of the present invention, such as Figure 5 As shown in Figure 2, the Martian atmosphere inversion process based on the highly symmetric method includes:

[0106] The first step is to determine the time of perigee as t p , height of perihelion p ;

[0107] The second step is to calculate [h1 h p h'1] range of energy decay ΔE1=E1-E′1, and calculate [h2 h p Energy decay within the range of h'2] ΔE2=E2-E2′;

[0108] Find the orbit height h1 before and after the perigee corresponding to the time t1 and t'1, calculate the corresponding detector energy E1 and E'1, calculate the energy attenuation of the two passes through h1 according to the energy attenuation ΔE1=E1-E1', and invert t p Height at time h p The density ρ at p .

[0109] Find the next orbital height h2 outside the interval [t1, t'1], corresponding to time t2 and t'2, and calculate the corresponding detector energies E2 and E'2. The energy decay from t2 to t'2 is ΔE2 = E2 - E'2. Therefore, according to the principle of height symmetry, the energy decay from t2 to t1 is According to ΔE 21 Invert the average atmospheric density ρ in the highly symmetric interval h1-h2 12 (Right now );

[0110] The third step is to repeat the second step and calculate [h i-1 h p h' i-1 ] range of energy attenuation ΔE i-1 =E i-1 -E′ i-1 , and calculate [h i h p h' i ] range of energy attenuation ΔE i =E i -E′ i ;

[0111] Repeat the above steps and keep searching for [t i , t' i ]The next orbit height outside the interval h i+1 , until the orbital altitude reaches the preset altitude threshold ( Figure 5 Chinese i+1 >300km for illustration), then stop the inversion. Through the above steps, h p ,h1-h2,h2-h3,……,h n-1 -h n The density of the atmosphere over a range of altitudes.

[0112] Step 3: Convert the average atmospheric density within a certain height symmetric interval to a certain height.

[0113] The highly symmetric method uses two energy decays within a highly symmetric interval to invert the average atmospheric density within that interval. This significantly improves the inversion resolution, but two issues remain. First, the inversion result only represents the average atmospheric density within a certain altitude range. Because atmospheric density varies rapidly with altitude, the physical meaning of the atmospheric density averaged along that altitude is unclear. Second, the calculation of energy decay within an interval relies on the orbital accuracy at the interval endpoints, failing to fully utilize the orbital data at all times within the interval. To address these two issues, an embodiment of the present invention proposes a method for recalculating the average atmospheric density and average spacecraft energy within a highly symmetric interval to a fixed altitude.

[0114] The distribution of atmospheric density with altitude is mainly controlled by the gravity field and decreases exponentially with increasing altitude, as shown in formula (5), ρ0 and ρ z are the atmospheric densities at altitudes z0 and z respectively, m is the average molecular mass, g is the acceleration due to gravity, R is the ideal gas constant, and T is the temperature.

[0115]

[0116] The change of the probe orbit altitude within a certain interval also includes small-scale changes in latitude and local time. The empirical atmospheric model also considers the change of atmospheric density with latitude and local time based on this formula. Therefore, it is believed that although the empirical atmospheric model cannot give the exact absolute value of the atmospheric density, it can accurately describe its changing trend within a certain highly symmetric interval. Therefore, the following formula holds true: there is a point h0 in the highly symmetric interval [h1, h2], where the atmospheric model density is equal to the average atmospheric model density in the range [h1, h2]. At the same time, the average atmospheric density inverted in the range [h1, h2] can represent the atmospheric density inversion value at h0, as shown in formula (6).

[0117]

[0118] The specific calculation process is shown in the figure. First, the atmospheric density ρ on the detector trajectory within the range [h1,h2] is calculated point by point using the atmospheric model MarsGram. mi ; Then, according to the average atmospheric density ρ in the range [h1,h2] 12 ; Then, in ρ mi Find the closest ρ 12 The corresponding height is recorded as h0; Finally, it is considered that the average atmospheric density ρ obtained by energy attenuation inversion in the interval [h1,h2] is 12 Represents the atmospheric density value at h0.

[0119] In an embodiment of the present invention, the Martian atmospheric density is inverted within a shorter time interval and a smaller altitude range through the principle of height symmetry, so that the altitude resolution of the atmospheric density inversion is significantly improved, and a more detailed atmospheric density altitude profile can be provided, thereby improving the measurement and control accuracy and the accuracy of the measurement and control results.

[0120] The embodiment of the present invention accurately calculates the energy attenuation caused by atmospheric drag when the probe is on a large elliptical orbit. This solution can more accurately reflect the impact of atmospheric density on the aircraft, thereby improving the accuracy of the inverted density value.

[0121] When calculating the average atmospheric density on the Martian surface, this embodiment not only considers the orbital accuracy of the endpoints within a highly symmetric interval of the Martian atmosphere, but also fully utilizes orbital data at all times within that interval, enhancing the stability and reliability of the inversion results. Furthermore, by converting the average atmospheric density to a fixed altitude, this overcomes the unclear physical meaning of the average density in traditional inversion methods, providing density data with clear physical meaning for spacecraft orbit design and control.

[0122] The following describes it in detail with reference to another embodiment.

[0123] Example 2

[0124] The inversion device for the Martian atmospheric density provided in this embodiment includes multiple implementation units, each implementation unit corresponds to each implementation step in the above-mentioned embodiment 1. Its specific implementation methods and beneficial effects can be referred to the above-mentioned method embodiments and will not be repeated here.

[0125] Figure 6 is a schematic diagram of an optional inversion device for the density of the Martian atmosphere according to an embodiment of the present invention, such as Figure 6 As shown, the inversion device for the Martian atmospheric density may include: an acquisition unit 61, a drawing unit 62, a calculation unit 63, an inversion unit 64, and a reduction unit 65, wherein:

[0126] The acquisition unit 61 is used to monitor the operating status of the Mars rover in the Mars exploration orbit and collect the operating data of the Mars rover;

[0127] A drawing unit 62 is configured to draw an operation diagram of the Mars probe based on the operation data, wherein the operation diagram marks the altitude position of the perigee and the altitude symmetric intervals of multiple Martian atmospheric layers;

[0128] The calculation unit 63 is used to calculate the energy attenuation of the Mars probe due to atmospheric drag at the perigee and in each highly symmetric interval on the operation diagram based on the operation data using the principle of highly symmetric calculation.

[0129] An inversion unit 64 is configured to invert the average atmospheric density in each highly symmetrical interval of the Martian atmosphere based on energy decay;

[0130] The reduction unit 65 is used to reduce the average atmospheric density in each highly symmetrical interval to a specific altitude position to obtain the atmospheric density at each altitude position in the Martian atmosphere.

[0131] The above-mentioned inversion device for the density of the Martian atmosphere monitors the operating status of the Mars probe in the Martian exploration orbit through the acquisition unit 61 and collects the operating data of the Mars probe; the drawing unit 62 draws the operating diagram of the Mars probe based on the operating data, wherein the altitude position of the perigee and the highly symmetric intervals of multiple Martian atmosphere layers are marked in the operating diagram; the calculation unit 63 uses the principle of altitude symmetry and calculates the energy attenuation of the Mars probe due to atmospheric resistance in the perigee and each highly symmetric interval on the operating diagram based on the operating data; the inversion unit 64 inverts the average atmospheric density in each highly symmetric interval of the Martian atmosphere based on the energy attenuation; the conversion unit 65 converts the average atmospheric density in each highly symmetric interval to a specific altitude position to obtain the atmospheric density at each altitude position of the Martian atmosphere.

[0132] In this embodiment, the operation data of the Mars probe in the Mars exploration orbit is collected in real time, and the Martian atmospheric density is inverted based on the real-time operation data. When inverting the Martian atmospheric density, a highly symmetric method is used, which can invert the atmospheric density within a shorter time interval and a smaller altitude range, thereby achieving the purpose of improving the height resolution of the atmospheric density inversion and the technical effect of improving the measurement and control accuracy of the Martian atmospheric density, thereby solving the technical problem in the related technology of inverting the Martian atmospheric density by expanding the inversion time interval, which has the disadvantage of low measurement and control accuracy.

[0133] Optionally, the inversion device for the Martian atmospheric density also includes: a first determination module, used to determine the altitude position of the perigee and the flight time of the Mars probe passing the perigee based on the operation trajectory in the operation diagram; a first division module, used to divide the operation diagram into regions with the altitude position of the perigee as a reference position, and obtain multiple highly symmetric intervals and the endpoint flight times corresponding to each highly symmetric interval, wherein the perigee is the lowest point of the operation diagram, and the operation diagram is symmetrically distributed on both sides with the perigee as the center, and the maximum height value of the highly symmetric interval is less than or equal to the preset height threshold.

[0134] Optionally, the calculation unit includes: a second determination module, used to determine the minimum height and maximum height of the highly symmetric interval for each highly symmetric interval; a first calculation module, used to calculate the energy attenuation of the Mars probe when it passes the minimum height twice in the highly symmetric interval, and obtain a first energy attenuation; a second calculation module, used to calculate the energy attenuation of the Mars probe when it passes the maximum height twice in the highly symmetric interval, and obtain a second energy attenuation; a third calculation module, used to calculate the difference between the first energy attenuation and the second energy attenuation using the principle of highly symmetry, and obtain the energy attenuation of the Mars probe in each highly symmetric interval based on the difference, wherein the principle of highly symmetric means that when the Mars probe is operating on the Mars exploration orbit, it will pass through each highly symmetric interval twice, and the energy attenuation of passing through the highly symmetric interval twice is equal, and the average value of the energy attenuation of passing through the same highly symmetric interval twice is used as the energy attenuation of the Mars probe in the highly symmetric interval.

[0135] Optionally, the first calculation module includes: a first acquisition submodule, used to determine the two endpoint flight times corresponding to the two passing minimum altitudes in the operation diagram, and obtain the operation data of the Mars rover at each endpoint flight time; a first calculation submodule, used to calculate the energy value of the Mars rover at each endpoint flight time based on the operation data of the Mars rover at each endpoint flight time and the energy calculation formula; a second calculation submodule, used to calculate the difference in the energy values ​​of the Mars rover at the two endpoint flight times, obtain the energy attenuation of the Mars rover passing the minimum altitude twice in the highly symmetric interval, and obtain the first energy attenuation.

[0136] Optionally, the energy calculation formula is expressed as: Where m is the mass of the probe, v is the velocity of the probe, x and y are the positions of the probe, and ω is the angular velocity of Mars' rotation. represents the detector kinetic energy, V S and V M represents the gravitational potential energy of the Sun and Mars on the probe, Represents the rotational potential energy generated by Mars' rotation.

[0137] Optionally, the inversion unit includes: a fourth calculation module, configured to calculate the average atmospheric density in each highly symmetric interval of the Martian atmosphere based on the energy attenuation of the Mars probe in each highly symmetric interval and an atmospheric density inversion formula, wherein the atmospheric density inversion formula is expressed as: ρ represents the average atmospheric density in each highly symmetrical interval of the Martian atmosphere, and ΔE represents the energy attenuation of the Mars probe in each highly symmetrical interval. represents the work done by sunlight pressure, C Dis the drag coefficient, A is the frontal area of ​​the probe, m is the mass of the Mars probe, v represents the running speed of the Mars probe, and Δt represents the time difference of the Mars probe passing through each highly symmetrical interval.

[0138] Optionally, the reduction unit includes: a first selection module, used to select multiple detection points within each highly symmetrical interval; a fifth calculation module, used to calculate the atmospheric density of each detection point based on the relative atmospheric density formula; a second selection module, used to calculate the atmospheric density difference between the atmospheric density of each detection point and the average atmospheric density of the highly symmetrical interval, and select the detection point with the smallest atmospheric density difference as the target detection point of the highly symmetrical interval; the first reduction module, used to reduce the average atmospheric density within the highly symmetrical interval to the height position corresponding to the target detection point of the highly symmetrical interval.

[0139] Alternatively, the relative atmospheric density formula is expressed as: Among them, ρ0 and ρ z are the atmospheric densities at altitudes z0 and z respectively, m is the average molecular mass, g is the acceleration due to gravity, R is the ideal gas constant, and T is the temperature.

[0140] The above-mentioned inversion device for the Martian atmospheric density may also include a processor and a memory. The above-mentioned acquisition unit 61, drawing unit 62, calculation unit 63, inversion unit 64, reduction unit 65, etc. are all stored in the memory as program units, and the processor executes the above-mentioned program units stored in the memory to realize the corresponding functions.

[0141] The processor includes a kernel that retrieves the corresponding program unit from the memory. One or more kernels can be configured, and the density of the Martian atmosphere can be inverted by adjusting the kernel parameters.

[0142] The above-mentioned memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0143] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is also provided, which includes a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute any of the above-mentioned methods for inverting the density of the Martian atmosphere.

[0144] According to another aspect of an embodiment of the present invention, an electronic device is also provided, comprising one or more processors and a memory, wherein the memory is used to store one or more programs, wherein when the one or more programs are executed by one or more processors, the one or more processors implement any of the above-mentioned methods for inverting the density of the Martian atmosphere.

[0145] According to another aspect of an embodiment of the present invention, a computer program product is further provided. The computer program product includes a computer program, wherein when the computer program is executed by a processor, any one of the above-mentioned methods for inverting the density of the Martian atmosphere is implemented.

[0146] The present application also provides a computer program product, which, when executed on a data processing device, is suitable for executing an initialization program having the following method steps: monitoring the operating status of the Mars rover in the Mars exploration orbit and collecting the operating data of the Mars rover; drawing an operating diagram of the Mars rover based on the operating data, wherein the altitude position of the perigee and the highly symmetric intervals of multiple Martian atmosphere layers are marked on the operating diagram; utilizing the principle of altitude symmetry and based on the operating data, calculating the energy attenuation of the Mars rover due to atmospheric resistance at the perigee and in each highly symmetric interval on the operating diagram; inverting the average atmospheric density in each highly symmetric interval of the Martian atmosphere based on the energy attenuation; and converting the average atmospheric density in each highly symmetric interval to a specific altitude position to obtain the atmospheric density at each altitude position of the Martian atmosphere.

[0147] The present application also provides a computer program product, which, when executed on a data processing device, is suitable for executing a program initialized with the following method steps: after drawing an operation diagram of the Mars probe based on the operation data, it also includes: determining the altitude position of the perigee and the flight time of the Mars probe passing the perigee based on the operation trajectory in the operation diagram; using the altitude position of the perigee as a reference position, dividing the operation diagram into regions to obtain multiple highly symmetrical intervals and the flight times of the endpoints corresponding to each highly symmetrical interval, wherein the perigee is the lowest point of the operation diagram, and the operation diagram is symmetrically distributed on both sides with the perigee as the center, and the maximum altitude value of the highly symmetrical interval is less than or equal to the preset altitude threshold.

[0148] The present application also provides a computer program product, which, when executed on a data processing device, is suitable for executing a program initialized with the following method steps: the step of calculating the energy attenuation of the Mars probe due to atmospheric resistance in each highly symmetric interval on the operation diagram based on the operation data includes: for each highly symmetric interval, determining the minimum altitude and maximum altitude of the highly symmetric interval; calculating the energy attenuation of the Mars probe passing through the minimum altitude twice in the highly symmetric interval to obtain a first energy attenuation; calculating the energy attenuation of the Mars probe passing through the maximum altitude twice in the highly symmetric interval to obtain a second energy attenuation; using the principle of highly symmetric, calculating the difference between the first energy attenuation and the second energy attenuation, and obtaining the energy attenuation of the Mars probe in each highly symmetric interval based on the difference, wherein the principle of highly symmetric means that when the Mars probe is operating on the Mars exploration orbit, it will pass through each highly symmetric interval twice, and the energy attenuation of passing through the highly symmetric interval twice is equal, and the average value of the energy attenuation of passing through the same highly symmetric interval twice is used as the energy attenuation of the Mars probe in the highly symmetric interval.

[0149] The present application also provides a computer program product, which, when executed on a data processing device, is suitable for executing a program initialized with the following method steps: calculating the energy attenuation of the Mars probe when it passes the minimum altitude twice in a highly symmetric interval, and the step of obtaining the first energy attenuation includes: determining the two endpoint flight times corresponding to the two times passing the minimum altitude in the operation diagram, and obtaining the operation data of the Mars probe at each endpoint flight time; calculating the energy value of the Mars probe at each endpoint flight time based on the operation data of the Mars probe at each endpoint flight time and the energy calculation formula; calculating the difference between the energy values ​​of the Mars probe at the two endpoint flight times, and obtaining the energy attenuation of the Mars probe when it passes the minimum altitude twice in the highly symmetric interval, and obtaining the first energy attenuation.

[0150] The present application also provides a computer program product, which, when executed on a data processing device, is adapted to execute a program having the following method steps for initialization: the energy calculation formula is expressed as: Where m is the mass of the probe, v is the velocity of the probe, x and y are the positions of the probe, and ω is the angular velocity of Mars' rotation. represents the detector kinetic energy, V S and V M represents the gravitational potential energy of the Sun and Mars on the probe, Represents the rotational potential energy generated by Mars' rotation.

[0151] The present application also provides a computer program product, which, when executed on a data processing device, is adapted to execute a program that initializes the following method steps: the step of inverting the average atmospheric density in each highly symmetric interval of the Martian atmosphere based on energy attenuation comprises: calculating the average atmospheric density in each highly symmetric interval of the Martian atmosphere based on the energy attenuation of the Mars probe in each highly symmetric interval and the atmospheric density inversion formula, wherein the atmospheric density inversion formula is expressed as: ρ represents the average atmospheric density in each highly symmetrical interval of the Martian atmosphere, and ΔE represents the energy attenuation of the Mars probe in each highly symmetrical interval. represents the work done by sunlight pressure, C D is the drag coefficient, A is the frontal area of ​​the probe, m is the mass of the Mars probe, v represents the running speed of the Mars probe, and Δt represents the time difference of the Mars probe passing through each highly symmetrical interval.

[0152] The present application also provides a computer program product, which, when executed on a data processing device, is suitable for executing a program initialized with the following method steps: the step of converting the average atmospheric density within each highly symmetrical interval to a specific altitude position includes: selecting multiple detection points within each highly symmetrical interval; calculating the atmospheric density of each detection point based on the relative atmospheric density formula; calculating the atmospheric density difference between the atmospheric density of each detection point and the average atmospheric density of the highly symmetrical interval, and selecting the detection point with the smallest atmospheric density difference as the target detection point of the highly symmetrical interval; converting the average atmospheric density within the highly symmetrical interval to the altitude position corresponding to the target detection point of the highly symmetrical interval.

[0153] The present application also provides a computer program product, which, when executed on a data processing device, is adapted to execute a program for initializing the following method steps: the relative atmospheric density formula is expressed as: Among them, ρ0 and ρ z are the atmospheric densities at altitudes z0 and z respectively, m is the average molecular mass, g is the acceleration due to gravity, R is the ideal gas constant, and T is the temperature.

[0154] Figure 7 FIG. 1 is a hardware structure block diagram of an electronic device (or mobile device) for performing an inversion method for the Martian atmospheric density according to an embodiment of the present invention. Figure 7 As shown, the electronic device may include one or more processors ( Figure 7702a, 702b, ..., 702n are used to illustrate that the processor 702 may include, but is not limited to, a processing device such as a microprocessor MCU or a programmable logic device FPGA, and a memory 704 for storing data. In addition, it may also include: a display, an input / output interface (I / O interface), a universal serial bus (USB) port (which may be included as one of the ports of the I / O interface), a network interface, a keyboard, a power supply, and / or a camera. It will be understood by those skilled in the art that Figure 7 The structure shown is only for illustration and does not limit the structure of the above electronic device. Figure 7 More or fewer components than shown, or with Figure 7 Different configurations shown.

[0155] The serial numbers of the above embodiments of the present invention are for description only and do not represent the advantages or disadvantages of the embodiments.

[0156] In the above embodiments of the present invention, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0157] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only exemplary. For example, the division of the units can be a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0158] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0159] In addition, the functional units in the various embodiments of the present invention may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0160] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk, etc. Various media that can store program codes.

[0161] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A method for inverting the density of the Martian atmosphere, characterized in that: include: Monitor the operating status of the Mars rover in the Mars exploration orbit and collect operating data of the Mars rover; Drawing an operation diagram of the Mars probe based on the operation data, wherein the operation diagram marks the altitude position of the perigee and the highly symmetric intervals of multiple Martian atmospheric layers; Based on the operation trajectory in the operation diagram, the height position of the perigee and the flight time of the Mars probe passing through the perigee are determined; with the height position of the perigee as a reference position, the operation diagram is divided into regions to obtain a plurality of highly symmetrical intervals and the flight times of the endpoints corresponding to the highly symmetrical intervals, wherein the perigee is the lowest point of the operation diagram, the operation diagram is symmetrically distributed on both sides with the perigee as the center, and the maximum height of the highly symmetrical interval is less than or equal to a preset height threshold; The method comprises the following steps: utilizing the principle of height symmetry and calculating the energy attenuation of the Mars probe due to atmospheric resistance at the perigee and in each height symmetry interval on the operation diagram based on the operation data, specifically including: for each height symmetry interval, determining the minimum height and maximum height of the height symmetry interval; calculating the energy attenuation of the Mars probe passing through the minimum height twice in the height symmetry interval to obtain a first energy attenuation; calculating the energy attenuation of the Mars probe passing through the maximum height twice in the height symmetry interval to obtain a second energy attenuation; utilizing the principle of height symmetry, calculating the difference between the first energy attenuation and the second energy attenuation, and obtaining the energy attenuation of the Mars probe in each height symmetry interval based on the difference, wherein the principle of height symmetry means that when the Mars probe is operating on the Mars exploration orbit, it will pass through each height symmetry interval twice, and the energy attenuation of passing through the height symmetry interval twice is equal, and using the average value of the energy attenuation of passing through the same height symmetry interval twice as the energy attenuation of the Mars probe in the height symmetry interval; Inverting the average atmospheric density in each highly symmetrical interval of the Martian atmosphere based on the energy attenuation specifically includes: calculating the average atmospheric density in each highly symmetrical interval of the Martian atmosphere based on the energy attenuation of the Mars probe in each highly symmetrical interval and an atmospheric density inversion formula, wherein the atmospheric density inversion formula is expressed as: , represents the average atmospheric density in each highly symmetrical interval of the Martian atmosphere, represents the energy attenuation of the Mars probe in each highly symmetrical interval, represents the work done by sunlight pressure, is the drag coefficient, is the detector's frontal area, is the mass of the Mars rover, represents the running speed of the Mars probe, represents the time difference of the Mars probe passing through each highly symmetric interval; The average atmospheric density within each of the highly symmetric intervals is converted to a specific altitude position to obtain the atmospheric density at each altitude position in the Martian atmosphere.

2. The method according to claim 1, characterized in that The step of calculating the energy attenuation of the Mars probe when it passes through the minimum altitude twice in the highly symmetric range to obtain a first energy attenuation comprises: Determining the flight times of two endpoints corresponding to two passes through the minimum altitude in the operation diagram, and obtaining operation data of the Mars probe at each endpoint flight time; Calculating the energy value of the Mars probe at each endpoint flight time based on the operating data of the Mars probe at each endpoint flight time and an energy calculation formula; The difference in energy values ​​of the Mars probe at the two endpoints of the flight is calculated to obtain the energy attenuation of the Mars probe when it passes the minimum altitude twice in the highly symmetric interval, thereby obtaining the first energy attenuation.

3. The method according to claim 2, characterized in that The energy calculation formula is expressed as: ,in, Indicates the detector quality, represents the detector speed, and Indicates the detector position, is the angular velocity of Mars' rotation, represents the kinetic energy of the detector, and represents the gravitational potential energy of the Sun and Mars on the probe, Represents the rotational potential energy generated by Mars' rotation.

4. The method according to claim 1, wherein The step of converting the average atmospheric density within each of the highly symmetric intervals to a specific altitude position comprises: Selecting a plurality of detection points within each of the highly symmetrical intervals; Calculate the atmospheric density at each detection point based on the relative atmospheric density formula; Calculating the atmospheric density difference between each detection point and the average atmospheric density of the highly symmetric interval, and selecting the detection point with the smallest atmospheric density difference as the target detection point of the highly symmetric interval; The average atmospheric density within the highly symmetric interval is converted to the height position corresponding to the target detection point within the highly symmetric interval.

5. The method according to claim 4, characterized in that The formula for relative atmospheric density is: ,in, and The heights are and the atmospheric density at is the average molecular mass, is the acceleration due to gravity, is the ideal gas constant, For temperature.

6. A device for inverting the density of the Martian atmosphere, characterized in that: include: An acquisition unit, configured to monitor the operating status of the Mars rover in the Mars exploration orbit and to acquire operating data of the Mars rover; a drawing unit, configured to draw an operation diagram of the Mars probe based on the operation data, wherein the operation diagram marks the altitude position of the perigee and the highly symmetric intervals of multiple Martian atmospheric layers; The inversion device for the Martian atmospheric density also includes: a first determination module, used to determine the altitude position of the perigee and the flight time of the Mars probe passing through the perigee based on the operation trajectory in the operation diagram; a first division module, used to divide the operation diagram into regions with the altitude position of the perigee as a reference position, to obtain a plurality of highly symmetric intervals and the flight time of the endpoints corresponding to each highly symmetric interval, wherein the perigee is the lowest point of the operation diagram, the operation diagram is symmetrically distributed on both sides with the perigee as the center, and the maximum altitude value of the highly symmetric interval is less than or equal to a preset altitude threshold; A calculation unit is used to calculate the energy attenuation of the Mars probe due to atmospheric resistance at the perigee and in each highly symmetrical interval on the operation diagram based on the operation data using the principle of height symmetry. The calculation unit includes: a second determination module for determining, for each highly symmetrical interval, the minimum altitude and the maximum altitude of the highly symmetrical interval twice; a first calculation module for calculating the energy attenuation of the Mars probe passing through the minimum altitude twice in the highly symmetrical interval to obtain a first energy attenuation; a second calculation module for calculating the energy attenuation of the Mars probe passing through the maximum altitude twice in the highly symmetrical interval to obtain a second energy attenuation; a third calculation module for calculating the difference between the first energy attenuation and the second energy attenuation using the principle of height symmetry, and obtaining the energy attenuation of the Mars probe in each highly symmetrical interval based on the difference, wherein the principle of height symmetry means that when the Mars probe operates on the Mars exploration orbit, it will pass through each highly symmetrical interval twice, and the energy attenuation of the two passes through the highly symmetrical interval is equal, and the average value of the energy attenuation of the two passes through the same highly symmetrical interval is used as the energy attenuation of the Mars probe in the highly symmetrical interval; An inversion unit is configured to invert the average atmospheric density in each highly symmetric interval of the Martian atmosphere based on the energy attenuation. The inversion unit includes: a fourth calculation module, configured to calculate the average atmospheric density in each highly symmetric interval of the Martian atmosphere based on the energy attenuation of the Mars probe in each highly symmetric interval and an atmospheric density inversion formula, wherein the atmospheric density inversion formula is expressed as: , represents the average atmospheric density in each highly symmetrical interval of the Martian atmosphere, represents the energy attenuation of the Mars probe in each highly symmetrical interval, represents the work done by sunlight pressure, is the drag coefficient, is the detector's frontal area, is the mass of the Mars rover, represents the running speed of the Mars probe, represents the time difference of the Mars probe passing through each highly symmetric interval; The reduction unit is used to reduce the average atmospheric density in each of the highly symmetric intervals to a specific altitude position to obtain the atmospheric density at each altitude position in the Martian atmosphere.

7. An electronic device, characterized in that: It includes one or more processors and a memory, wherein the memory is used to store one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement the inversion method of the Martian atmospheric density as described in any one of claims 1 to 5.

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