Navigation satellite orbit determination method and device based on satellite-ground combined observation

Abstract

The invention discloses a navigation satellite orbit determination method and device based on satellite-ground combined observation, and the method comprises the steps: obtaining fixed star angular distance measurement data information of a navigation satellite in a preset semi-autonomous operation mode; performing inter-satellite observation by using a Ka inter-satellite link to obtain inter-satellite relative distance information; satellite-ground relative distance information is obtained by using satellite-ground observation of a Ka-band satellite-ground link; according to a preset semi-autonomous operation mode, obtaining satellite orbit parameter information of the semi-autonomous operation mode by using a preset navigation satellite orbit parameter starting value; and performing evaluation processing on the satellite orbit parameter information in the semi-autonomous operation mode to obtain an optimal satellite-ground joint support mode. Therefore, the invention provides a multi-mode optimization technical scheme based on satellite-ground joint support, and the calculation precision of the navigation satellite parameters is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of satellite navigation, and particularly relates to a method and device for determining the orbit of a navigation satellite based on space-ground joint observation. Background Art

[0002] The navigation satellite navigation system has improved the satellite's operation ability and orbit determination accuracy through the joint support mode of space-based measurement and ground-based measurement, and strengthened the service advantages of the Beidou system in complex environments. In the space-ground joint support mode of navigation satellites, the satellite support means mainly include: Ka inter-satellite link measurement, space-based orientation measurement based on star sensors, etc., and the ground support means mainly include: injecting Earth Orientation Parameters (EOP parameters) by ground mobile stations / vehicles, and performing space-ground link measurement between ground mobile stations / vehicles and satellites. For the semi-autonomous operation mode of navigation satellites, there is currently no relevant solution for the joint support mode between satellites and ground mobile stations, and the research on the space-ground joint support for the semi-autonomous operation mode is not sufficient. The joint design and optimization of the space-based orientation observation mode and the ground support mode have not been deeply carried out, which limits the practical application potential of the navigation satellite system in complex environments.

[0003] In order to improve the orbit determination accuracy and prediction arc length performance of the navigation satellite system, a method for determining the orbit of a navigation satellite based on space-ground joint observation is needed to improve the orbit determination accuracy and prediction arc length performance of the navigation satellite, and to provide a technical solution for the research on the space-ground joint support mode of the navigation satellite system. Summary of the Invention

[0004] To solve the above problems, the present application proposes a multi-combination satellite orbit determination method and device based on the space-ground joint support mode for the semi-autonomous operation mode of navigation satellites.

[0005] To achieve the above object, the first aspect of the embodiment of the present application discloses a method for determining the orbit of a navigation satellite based on space-ground joint observation, and the method includes:

[0006] S1. Obtain the star angular distance measurement data information of the navigation satellite in a preset semi-autonomous operation mode; the star angular distance measurement data includes the relative right ascension and relative declination data of inter-satellite in the celestial coordinate system;

[0007] S2. Perform inter-satellite observation using the Ka inter-satellite link to obtain the inter-satellite relative distance information;

[0008] S3. Perform space-ground observation using the space-ground link of the Ka band to obtain the space-ground relative distance information; the ground end of the space-ground link of the Ka band is a ground motor vehicle or a ground mobile station;

[0009] S4. According to the semi-autonomous operation mode, using the initial value of the preset navigation satellite orbit parameters, obtain the satellite orbit parameter information of the semi-autonomous operation mode;

[0010] S5. Evaluate and process the satellite orbit parameter information of the semi-autonomous operation mode to obtain the optimal satellite-ground joint support mode.

[0011] As an optional implementation manner, in the first aspect of the embodiments of the present application, the method for obtaining the star angular distance measurement data information of the navigation satellite includes:

[0012] Gazing measurement mode acquisition method: Use 3 IGSO satellites to perform gazing observations on 24 Beidou MEO satellites; each of the IGSO satellites fixedly observes one visible MEO satellite on one orbital plane; when the MEO satellite is not visible, switch to observe other visible MEO satellites in the same orbital plane; each IGSO satellite observes a star angular distance measurement data every 15 minutes to obtain the star angular distance measurement data information of the gazing measurement mode;

[0013] Short cycle measurement mode acquisition method: Use the first time period as the short cycle, where the first time period is not less than 1 hour and not more than 2 hours; within each short cycle, 3 IGSO satellites respectively perform cycle observations on the MEO satellites on three orbits, and each IGSO satellite fixedly observes any visible MEO satellite on the orbital plane; at the start of the next short cycle, the IGSO satellite switches to another orbital plane, and the 3 IGSO satellites switch according to the same rule to ensure that MEO satellites on all 3 orbital planes participate in the observation within each short cycle, and each IGSO satellite selects any visible MEO satellite on the observed orbital plane for observation; obtain a star angular distance measurement data every 15 minutes to obtain the star angular distance measurement data set of the short cycle measurement mode;

[0014] Long cycle measurement mode acquisition method: Use the second time period as the long cycle, where the second time period is not less than 8 hours and not more than 12 hours; within each long cycle, 3 IGSO satellites respectively perform cycle observations on the MEO satellites on three orbits, and each IGSO satellite fixedly observes any visible MEO satellite on the orbital plane; at the start of the next long cycle, the IGSO satellite switches to another orbital plane, and the 3 IGSO satellites switch according to the same rule to ensure that MEO satellites on all 3 orbital planes participate in the observation within each long cycle, and each IGSO satellite selects any visible MEO satellite on the observed orbital plane for observation; obtain a star angular distance measurement data every 15 minutes to obtain the star angular distance measurement data set of the long cycle measurement mode.

[0015] As an alternative implementation, in the first aspect of the embodiments of the present application, the preset semi-autonomous operation mode includes:

[0016] The first semi-autonomous operation mode: Using a ground vehicle, inject EOP parameters once every three days; Obtain satellite-ground link observation values once every 15 minutes using the Ka-band satellite-ground link; Adopt a staring mode to directionally measure the stellar angular distance data; The injected EOP parameters are used to convert the satellite orbit parameters in the J2000 coordinate system to the satellite orbit parameters in the Earth-fixed coordinate system;

[0017] The second semi-autonomous operation mode; Using a ground vehicle, inject EOP parameters once every three days; Do not perform Ka-band satellite-ground link observations; Adopt a staring mode to directionally measure the stellar angular distance data;

[0018] The third semi-autonomous operation mode: The ground vehicle does not inject EOP parameters; Obtain satellite-ground link observation values once every 15 minutes using the Ka-band satellite-ground link; Adopt a staring mode to directionally measure the stellar angular distance data;

[0019] The fourth semi-autonomous operation mode: The ground vehicle does not inject EOP parameters; Obtain satellite-ground link observation values once every 15 minutes using the Ka-band satellite-ground link; Adopt a polling measurement mode to measure the stellar angular distance data, and the polling measurement mode is a short polling cycle measurement mode or a long polling cycle measurement mode.

[0020] As an alternative implementation, in the first aspect of the embodiments of the present application, the inter-satellite observation using the Ka inter-satellite link to obtain the inter-satellite relative distance information includes:

[0021] At time t k , perform inter-satellite observation using the Ka inter-satellite link to obtain the satellite-link observation values at time t k ; The satellite-link observation values include a first observation value and a second observation value. The first observation value represents the observation value transmitted by satellite A and received by satellite B, and the second observation value represents the observation value transmitted by satellite B and received by satellite A; The time t k corresponds to the observation time of the stellar angular distance measurement data in the stellar angular distance measurement data set;

[0022] With a data sampling interval of 15 minutes, continuously sample to obtain a set of satellite-link observation values;

[0023] According to the sampling order, use the relative distance calculation model to process the set of satellite-link observation values to obtain the inter-satellite relative distance information;

[0024] The relative distance calculation model is expressed as:

[0025]

[0026] where \(t\) k represents the sampling time, represents the inter-satellite relative distance at time \(t\), k \(A\) and \(B\) respectively represent the positions of Satellite \(A\) and Satellite \(B\) at time \(t\), at time \(t\), k and are respectively the first observation value and the second observation value at time \(t\), \(c\) is the speed of light, k and are respectively the transmission delay and the reception delay of the inter-satellite link device of Satellite \(A\), and are respectively the transmission delay and the reception delay of the inter-satellite link device of Satellite \(B\), and are respectively the error correction terms in the inter-satellite observation, including the satellite antenna phase center and the relativistic effect, and both can be accurately modeled and corrected by known models.

[0027] It should be noted that the method for obtaining the space-to-ground relative distance information by using the space-to-ground observation of the Ka-band space-to-ground link is the same as the calculation steps for obtaining the inter-satellite relative distance information by using the Ka inter-satellite link. Only the ground mobile station needs to be regarded as one of the satellites, and details are not described herein.

[0028] As an optional implementation manner, in the first aspect of the embodiments of the present application, the obtaining of the satellite orbit parameter information in the semi-autonomous operation mode according to the preset semi-autonomous operation mode by using the preset initial value of the navigation satellite orbit parameters includes: obtaining the satellite orbit parameter information in the semi-autonomous operation mode by using the extended Kalman filtering method.

[0029] As an optional implementation manner, in the first aspect of the embodiments of the present application, the evaluating and processing the satellite orbit parameter information in the semi-autonomous operation mode to obtain the optimal space-to-ground joint support mode includes:

[0030] S51. Obtain the precise ephemeris of the navigation satellite from MGEX to obtain the reference navigation satellite orbit parameters; the epoch of the reference navigation satellite orbit parameters is the same as the epoch of the satellite orbit parameter information in the semi-autonomous operation mode;

[0031] S52. Based on the reference navigation satellite orbit parameters, perform error calculation processing on the satellite orbit parameter information in the semi-autonomous operation mode to obtain the error value corresponding to the semi-autonomous operation mode;

[0032] S53. According to the error value corresponding to the semi-autonomous operation mode, select the semi-autonomous operation mode corresponding to the minimum error value as the optimal space-to-ground joint support mode. ​​

[0033] As an alternative implementation, in the first aspect of the embodiments of the present application, based on the reference navigation satellite orbit parameters, error calculation and processing are performed on the semi-autonomous operation mode satellite orbit parameter information to obtain the error value corresponding to the semi-autonomous operation mode. This includes:

[0034] Calculate the epoch difference between the reference navigation satellite orbit parameters and the semi-autonomous operation mode satellite orbit parameters to obtain star ephemeris epoch difference information;

[0035] Perform root mean square processing on the star ephemeris epoch difference information to obtain the root mean square error value corresponding to the semi-autonomous operation mode;

[0036] According to the root mean square error value corresponding to the semi-autonomous operation mode, select the semi-autonomous operation mode corresponding to the minimum root mean square error value as the satellite-ground joint support mode.

[0037] The second aspect of the embodiments of the present application discloses a navigation satellite orbit determination device based on satellite-ground joint observation. The device may include:

[0038] A stellar angular distance measurement data acquisition module, configured to acquire stellar angular distance measurement data information of a navigation satellite in a preset semi-autonomous operation mode; the stellar angular distance measurement data includes interstellar relative right ascension and relative declination data in the celestial coordinate system;

[0039] An interstellar relative distance information acquisition module; performing interstellar observation using the Ka interstellar link to obtain interstellar relative distance information;

[0040] A satellite-ground relative distance information acquisition module; configured to perform satellite-ground observation using the Ka-band satellite-ground link to obtain satellite-ground relative distance information;

[0041] A satellite orbit parameter calculation module, according to the semi-autonomous operation mode, using a preset initial value of the navigation satellite orbit parameters to obtain semi-autonomous operation mode satellite orbit parameter information;

[0042] An evaluation module; performing evaluation processing on the semi-autonomous operation mode satellite orbit parameter information to obtain the optimal satellite-ground joint support mode.

[0043] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0044] The present invention proposes a multi-combination satellite orbit determination method and device based on a satellite-ground joint support mode for the satellite-ground joint support requirements of navigation satellites in autonomous operation and semi-autonomous operation modes, and has the following beneficial effects:

[0045] (1)Enhanced the long-term robustness and adaptability of ephemeris calculation. For scenarios with insufficient ground support capabilities, by adopting space-based directional measurement modes (such as staring measurement and patrol measurement) for ephemeris calculation, the ephemeris accuracy was ensured in the case of missing ground upload. In scenarios with ground auxiliary support, the EOP parameter upload and the fusion of space-ground link observations were used to improve the calculation model, further optimizing the calculation accuracy of orbit and clock offset parameters. The joint mode was flexibly selected according to the ground support capabilities in the semi-autonomous operation mode, effectively reducing the long-term deviation of the navigation satellite orbit parameters, achieving high-precision ephemeris calculation with three-dimensional orbit determination errors of 0.305m and 0.287m within 90 days, significantly improving the ephemeris stability and accuracy compared with traditional methods.

[0046] (2)The technical solution provided by this application adapts to diverse operation scenarios, can flexibly select the best mode to maintain the stability and long-term robustness of ephemeris generation; provides extensibility support for the development of the GNSS system, and the provided technical solution can be further applied to deep space exploration missions and polar navigation, providing a basic guarantee for navigation services in complex environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 Schematic diagram of a method for determining the orbit of a navigation satellite based on space-ground joint observation disclosed in an embodiment of the present invention;

[0048] Figure 2 Schematic diagram of the structure of a device for determining the orbit of a navigation satellite based on space-ground joint observation disclosed in an embodiment of the present invention;

[0049] Figure 3 Schematic diagram of the structure of another device for determining the orbit of a navigation satellite based on space-ground joint observation disclosed in an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0050] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0051] Embodiment 1

[0052] Please refer to Figure 1 . Figure 1 Schematic diagram of a method for determining the orbit of a navigation satellite based on space-ground joint observation disclosed in an embodiment of the present invention. The method for determining the orbit of a navigation satellite based on space-ground joint observation described in this application is applied to a management system, such as a local server or a cloud server for management, etc., which is not limited in the embodiments of the present invention.

[0053] As Figure 1 shown, the method for determining the orbit of a navigation satellite based on space - ground joint observation disclosed in the embodiment of the present invention includes:

[0054] S1. In a preset semi - autonomous operation mode, obtain the stellar angular distance measurement data information of the navigation satellite; the stellar angular distance measurement data includes the relative right ascension and relative declination data of inter - satellite in the celestial coordinate system;

[0055] It should be noted that when operating semi - autonomously, the arc length of orbit prediction is not less than 90 days. The observation time period adopted in the embodiment of the present invention is 90 days from October 1st to December 29th, 2022;

[0056] S2. Use the Ka inter - satellite link for inter - satellite observation to obtain inter - satellite relative distance information;

[0057] S3. Use the space - ground observation of the Ka - band space - ground link to obtain space - ground relative distance information; the ground end of the Ka - band space - ground link is a ground vehicle or a ground mobile station;

[0058] S4. According to the semi - autonomous operation mode, use the preset initial value of the navigation satellite orbit parameters to obtain the satellite orbit parameter information in the semi - autonomous operation mode;

[0059] S5. Evaluate and process the satellite orbit parameter information in the semi - autonomous operation mode to obtain the optimal space - ground joint support mode.

[0060] In another optional embodiment, the method for obtaining the stellar angular distance measurement data information of the navigation satellite includes:

[0061] The method for obtaining the staring measurement mode: Use 3 IGSO satellites to perform staring observation on 24 Beidou MEO satellites; each of the IGSO satellites fixedly observes one visible MEO satellite on one orbital plane; when the MEO satellite is not visible, switch to observe other visible MEO satellites in the same orbital plane; each IGSO satellite observes one piece of stellar angular distance measurement data every 15 minutes to obtain the stellar angular distance measurement data information in the staring measurement mode;

[0062] Method for obtaining short cycle measurement mode: taking the first duration as the short cycle, where the first duration is not less than 1 hour and not more than 2 hours; within each short cycle, 3 IGSO satellites respectively conduct patrol observations on MEO satellites in three orbits, and each IGSO satellite fixedly observes any visible MEO satellite on the orbital plane; at the start of the next short cycle, the IGSO satellites switch to another orbital plane, and the 3 IGSO satellites switch according to the same rule to ensure that MEO satellites in all 3 orbital planes participate in the observations within each short cycle, and each IGSO satellite selects any visible MEO satellite on the observed orbital plane for observation; obtaining the stellar angular distance measurement data every 15 minutes to obtain the stellar angular distance measurement data set of the short cycle measurement mode.

[0063] Method for obtaining long cycle measurement mode: taking the second duration as the long cycle, where the second duration is not less than 8 hours and not more than 12 hours; within each long cycle, 3 IGSO satellites respectively conduct patrol observations on MEO satellites in three orbits, and each IGSO satellite fixedly observes any visible MEO satellite on the orbital plane; at the start of the next long cycle, the IGSO satellites switch to another orbital plane, and the 3 IGSO satellites switch according to the same rule to ensure that MEO satellites in all 3 orbital planes participate in the observations within each long cycle, and each IGSO satellite selects any visible MEO satellite on the observed orbital plane for observation; obtaining the stellar angular distance measurement data every 15 minutes to obtain the stellar angular distance measurement data set of the long cycle measurement mode.

[0064] In yet another alternative embodiment, the preset semi-autonomous operation mode includes:

[0065] First semi-autonomous operation mode: Using a ground vehicle, injecting EOP parameters every 3 days; obtaining 1 satellite-ground link observation value every 15 minutes using the Ka-band satellite-ground link; measuring the stellar angular distance data in the staring mode;

[0066] Second semi-autonomous operation mode: Using a ground vehicle, injecting EOP parameters every 3 days; not conducting satellite-ground link observations using the Ka-band; measuring the stellar angular distance data in the staring mode;

[0067] Third semi-autonomous operation mode: The ground vehicle does not inject EOP parameters; obtaining 1 satellite-ground link observation value every 15 minutes using the Ka-band satellite-ground link; measuring the stellar angular distance data in the staring mode;

[0068] Fourth semi-autonomous operation mode: The ground vehicle does not inject EOP parameters; obtaining 1 satellite-ground link observation value every 15 minutes using the Ka-band satellite-ground link; measuring the stellar angular distance data in the patrol measurement mode, where the patrol measurement mode is the short cycle measurement mode or the long cycle measurement mode.

[0069] In yet another alternative embodiment, the obtaining of the inter-satellite relative distance information by using the Ka inter-satellite link for inter-satellite observation includes:

[0070] At time t k , use the Ka inter-satellite link for inter-satellite observation to obtain the inter-satellite link observation value at time t k ; the inter-satellite link observation value includes a first observation value and a second observation value. The first observation value represents the observation value transmitted by satellite A and received by satellite B, and the second observation value represents the observation value transmitted by satellite B and received by satellite A; the time t k corresponds to the observation time of the stellar angular distance measurement data in the stellar angular distance measurement data set;

[0071] With a data sampling interval of 15 minutes, continuously sample to obtain a set of inter-satellite link observation values;

[0072] According to the sampling order, use the relative distance calculation model to process the set of inter-satellite link observation values to obtain the inter-satellite relative distance information;

[0073] The relative distance calculation model is expressed as:

[0074]

[0075] In the formula, t k represents the sampling time, represents the inter-satellite relative distance at time t k , respectively represent the positions of satellite A and satellite B at time t k , and are respectively the first observation value and the second observation value at time t k , c is the speed of light, and are respectively the transmission delay and the reception delay of the inter-satellite link equipment of satellite A, and are respectively the transmission delay and the reception delay of the inter-satellite link equipment of satellite B, and are respectively the error correction terms in the inter-satellite observation, including the satellite antenna phase center and the relativistic effect, and both can be accurately modeled and corrected by using known models.

[0076] It should be noted that the calculation method for obtaining the space-ground relative distance information by using the space-ground observation of the Ka band space-ground link is the same as the calculation steps for obtaining the inter-satellite relative distance information by using the Ka inter-satellite link for inter-satellite observation. Only the ground mobile station needs to be regarded as one of the satellites, and details will not be repeated.

[0077] In yet another alternative embodiment, a method for calculating satellite orbit parameter information in a semi-autonomous operation mode by using stellar angular distance measurement data information and inter-satellite relative distance information includes:

[0078] Obtain the stellar angular distance measurement data and the inter-satellite relative distance at time t from the stellar angular distance measurement data information and the inter-satellite relative distance information; k at the moment of;

[0079] Based on the stellar angular distance measurement data and the inter-satellite relative distance at time t, construct an ephemeris equation set; k at the moment of;

[0080] The ephemeris equation set is expressed as:

[0081]

[0082] In the formula, (α AB (t k ), δ AB (t k ) represents the stellar angular distance measurement data at time t, k at the moment of; represents the inter-satellite relative distance at time t, k A represents the satellite position coefficient matrix, X orb represents the satellite orbit parameters in the J2000 coordinate system to be solved, and the orbit parameters include satellite position (x, y, z) and velocity (vx, vy, vz) parameters, Δ orb (t k ) is the satellite orbit parameter at the starting time, and the orbit parameters include satellite position (x, y, z) and velocity (vx, vy, vz) parameters, and Δ orb is the orbit observation noise vector;

[0083] Based on the stellar angular distance measurement data information and the inter-satellite relative distance information, perform a solution process using the recursive least squares method to obtain the satellite orbit parameters at the starting time;

[0084] Process the satellite orbit parameters at the starting time using an orbit prediction model, and use the extended Kalman filtering method to solve and obtain the satellite orbit parameters;

[0085] The expression of the orbit prediction model is:

[0086] X orb (t k ) = Φ k,k-1 X orb (t k-1 ) + W orb

[0087] In the formula, W orb is the system process noise matrix in the orbit parameter solution, and Φ k,k-1 is the orbit parameter state transition matrix;

[0088] The orbital parameter state transition matrix is as follows:

[0089]

[0090] In the formula, f[·] represents the orbital dynamics model, and its partial derivative Φ is the Jacobian matrix based on the orbital dynamics model.

[0091] In yet another optional embodiment, a method for calculating the orbital parameters of a semi-autonomous operation mode satellite using stellar angular distance measurement data information, space-ground link distance information, and inter-satellite relative distance information includes:

[0092] Based on the stellar angular distance measurement data Ka-band inter-satellite link observation values and space-ground link observation values The observation data are jointly used as the observable quantity L k at time t orb , and a multi-dimensional observation equation is constructed as follows:

[0093]

[0094] In the formula, X orb (t k ) is the position parameter of the navigation satellite at epoch t k . When k = 1, t k is t1, which is the starting time. The position parameter X orb (t1) of the navigation satellite is used as the quantity to be estimated, Δ orb is the orbital observation noise vector, and A orb is the satellite position coefficient matrix, which expresses the relationship between the observable quantity and the satellite position vector and can be specifically expressed as:

[0095]

[0096] The recursive least squares method is used to solve for X orb , and it is used as the orbital starting point. Based on the orbital prediction model, the extended Kalman filtering method is used to solve and obtain the orbital parameters of the navigation satellite.

[0097] In yet another optional embodiment, the evaluation and processing of the orbital parameter information of the semi-autonomous operation mode satellite to obtain the optimal space-ground joint support mode includes:

[0098] S51. Obtain the precise ephemeris of the navigation satellite from MGEX to obtain the reference navigation satellite orbital parameters; the epoch of the reference navigation satellite orbital parameters is the same as the epoch of the orbital parameter information of the semi-autonomous operation mode satellite;

[0099] S52. Based on the reference navigation satellite orbit parameters, perform error calculation and processing on the satellite orbit parameter information in the semi-autonomous operation mode to obtain the error value corresponding to the semi-autonomous operation mode;

[0100] S53. According to the error value corresponding to the semi-autonomous operation mode, select the semi-autonomous operation mode corresponding to the minimum error value as the optimal satellite-ground joint support mode.

[0101] In yet another alternative embodiment, the performing error calculation and processing on the satellite orbit parameter information in the semi-autonomous operation mode based on the reference navigation satellite orbit parameters to obtain the error value corresponding to the semi-autonomous operation mode includes:

[0102] Calculate the epoch difference between the reference navigation satellite orbit parameters and the satellite orbit parameters in the semi-autonomous operation mode to obtain the star ephemeris epoch difference information;

[0103] Perform root mean square processing on the star ephemeris epoch difference information to obtain the root mean square error value corresponding to the semi-autonomous operation mode;

[0104] According to the root mean square error value corresponding to the semi-autonomous operation mode, select the semi-autonomous operation mode corresponding to the minimum root mean square error value as the satellite-ground joint support mode.

[0105] Embodiment 2

[0106] Please refer to Figure 2 . Figure 2 It is a schematic structural diagram of a navigation satellite orbit determination device based on satellite-ground joint observation disclosed in an embodiment of the present invention. Among them, Figure 2 The described device can be applied to a management system, such as a local server or a cloud server for management, etc., which is not limited in the embodiments of the present invention. As Figure 2 shown, the device may include:

[0107] A stellar angular distance measurement data acquisition module 201, configured to acquire stellar angular distance measurement data information of a navigation satellite in a preset semi-autonomous operation mode; the stellar angular distance measurement data includes interstellar relative right ascension and relative declination data in the celestial coordinate system;

[0108] An interstellar relative distance information acquisition module 202; perform interstellar observation using a Ka interstellar link to obtain interstellar relative distance information;

[0109] A satellite-ground relative distance information acquisition module 203; configured to perform satellite-ground observation using a Ka-band satellite-ground link to obtain satellite-ground relative distance information;

[0110] A satellite orbit parameter calculation module 204, according to the semi-autonomous operation mode, using a preset initial value of navigation satellite orbit parameters to obtain satellite orbit parameter information in the semi-autonomous operation mode;

[0111] Evaluation module 205; evaluate and process the satellite orbit parameter information in the semi-autonomous operation mode to obtain the optimal satellite-ground joint support mode.

[0112] The second embodiment is the product embodiment corresponding to the first embodiment. The steps and methods included are the same as those in the first embodiment and will not be described in detail in the second embodiment.

[0113] Embodiment 3

[0114] Please refer to Figure 3 , Figure 3 which is a schematic structural diagram of another navigation satellite orbit determination device based on satellite-ground joint observation disclosed in the embodiments of the present invention. Among them, Figure 3 the described device can be applied to a management system, such as a local server or a cloud server for management, etc. The embodiments of the present invention do not make limitations. As Figure 3 shown, the device may include:

[0115] A memory 301 storing executable program code;

[0116] A processor 302 coupled to the memory 301;

[0117] The processor 302 calls the executable program code stored in the memory 301 to execute the steps in the navigation satellite orbit determination method described in the first embodiment.

[0118] The device embodiments described above are only illustrative. The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical modules, that is, they may be located in one place or distributed to multiple network modules. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art can understand and implement it without creative labor.

[0119] Through the above specific descriptions of the embodiments, those skilled in the art can clearly understand that each implementation can be realized by means of software plus a necessary general hardware platform, and of course, it can also be realized by hardware. Based on this understanding, the essence of the above technical solution, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, including read-only memory (ROM), random access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), one-time programmable read-only memory (OTPROM), electrically-erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc memories, magnetic disk memories, tape memories, or any other medium that can be used to carry or store data and is computer-readable.

[0120] Finally, it should be noted that: The navigation satellite orbit determination method and device disclosed in the embodiments of the present invention only disclose the preferred embodiments of the present invention, which are only used to illustrate the technical solutions of the present invention and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for determining the orbit of a navigation satellite based on space-ground joint observation, characterized in that The method includes: S1. Under a preset semi-autonomous operation mode, obtaining the stellar angular distance measurement data information of navigation satellites; the stellar angular distance measurement data includes the relative right ascension and relative declination data between stars in the celestial coordinate system; S2. Performing inter-satellite observations using the Ka inter-satellite link to obtain inter-satellite relative distance information; S3. Performing satellite-ground observations using the Ka-band satellite-ground link to obtain satellite-ground relative distance information; the ground end of the Ka-band satellite-ground link is a ground motor vehicle or a ground mobile station; S4. According to the semi-autonomous operation mode, using the preset initial value of the navigation satellite orbit parameters to obtain the satellite orbit parameter information in the semi-autonomous operation mode; S5. Evaluating and processing the satellite orbit parameter information in the semi-autonomous operation mode to obtain the optimal satellite-ground joint support mode.

2. The method for determining the orbit of a navigation satellite based on space-ground joint observation according to claim 1, wherein The method for obtaining the stellar angular distance measurement data information of navigation satellites includes: The acquisition method of the staring measurement mode: using 3 IGSO satellites to perform staring observations on 24 Beidou MEO satellites; each of the IGSO satellites fixedly observes one visible MEO satellite on one orbital plane; when the MEO satellite is not visible, switch to observe other visible MEO satellites in the same orbital plane; each IGSO satellite obtains one set of stellar angular distance measurement data every 15 minutes to obtain the stellar angular distance measurement data information in the staring measurement mode; The acquisition method of the short cycle measurement mode: using the first time period as the short cycle, the first time period is not less than 1 hour and not more than 2 hours; within each short cycle, 3 IGSO satellites respectively perform cycle observations on the MEO satellites in three orbits, and each IGSO satellite fixedly observes any visible MEO satellite on the orbital plane; at the start of the next short cycle, the IGSO satellite switches to another orbital plane, and the 3 IGSO satellites switch according to the same rule to ensure that MEO satellites in all three orbital planes participate in the observations within each short cycle, and each IGSO satellite selects any visible MEO satellite on the observed orbital plane for observation; obtain one set of stellar angular distance measurement data every 15 minutes to obtain the stellar angular distance measurement data set in the short cycle measurement mode; The acquisition method of the long cycle measurement mode: using the second time period as the long cycle, the second time period is not less than 8 hours and not more than 12 hours; within each long cycle, 3 IGSO satellites respectively perform cycle observations on the MEO satellites in three orbits, and each IGSO satellite fixedly observes any visible MEO satellite on the orbital plane; at the start of the next long cycle, the IGSO satellite switches to another orbital plane, and the 3 IGSO satellites switch according to the same rule to ensure that MEO satellites in all three orbital planes participate in the observations within each long cycle, and each IGSO satellite selects any visible MEO satellite on the observed orbital plane for observation; obtain one set of stellar angular distance measurement data every 15 minutes to obtain the stellar angular distance measurement data set in the long cycle measurement mode.

3. The method for determining the orbit of a navigation satellite based on space-ground joint observation according to claim 2, wherein, The preset semi-autonomous operation mode includes: The first semi-autonomous operation mode: Using a ground vehicle, the EOP parameters are uploaded every 3 days; Using the Ka-band satellite-ground link, the satellite-ground link observation values are obtained once every 15 minutes, and the staring measurement mode is used to obtain the stellar angular distance data; The second semi-autonomous operation mode; Using a ground vehicle, the EOP parameters are uploaded every 3 days; No Ka-band satellite-ground link observation is performed; The staring mode is used to directionally measure the stellar angular distance data; The third semi-autonomous operation mode: The EOP parameters are not uploaded by the ground vehicle; Using the Ka-band satellite-ground link, the satellite-ground link observation values are obtained once every 15 minutes; The staring mode is used to directionally measure the stellar angular distance data; The fourth semi-autonomous operation mode: The EOP parameters are not uploaded by the ground vehicle; Using the Ka-band satellite-ground link, the satellite-ground link observation values are obtained once every 15 minutes; The stellar angular distance data is measured using a polling measurement mode, and the polling measurement mode is a short polling cycle measurement mode or a long polling cycle measurement mode.

4. The method for determining the orbit of a navigation satellite based on space-ground joint observation according to claim 1, wherein The inter-satellite observation using the Ka inter-satellite link to obtain the inter-satellite relative distance information includes: At time t k , inter-satellite observations are carried out using the Ka inter-satellite link to obtain the inter-satellite link observation values at time t k . The inter-satellite link observation values include a first observation value and a second observation value. The first observation value represents the observation value transmitted by satellite A and received by satellite B, and the second observation value represents the observation value transmitted by satellite B and received by satellite A. The time t k corresponds to the observation time of the stellar angular distance measurement data in the stellar angular distance measurement dataset. Taking 15 minutes as the data sampling interval, continuously sampling to obtain a set of inter-satellite link observation values; According to the sampling order, using the relative distance calculation model to process the set of inter-satellite link observation values to obtain the inter-satellite relative distance information; The relative distance calculation model is expressed as: Where, t k represents the sampling time, represents the inter-satellite relative distance at time t k , and and k represent the positions of satellite A and satellite B at time t and are the first observation value and the second observation value at time t k respectively, c is the speed of light, and are the transmission delay and the reception delay of the inter-satellite link device of satellite A respectively, and are the transmission delay and the reception delay of the inter-satellite link device of satellite B respectively, and are the error correction terms in the inter-satellite observation respectively.

5. The method for determining the orbit of a navigation satellite based on space-ground joint observation according to claim 4, wherein According to the preset semi-autonomous operation mode, using the preset initial value of the navigation satellite orbit parameters to obtain the semi-autonomous operation mode satellite orbit parameter information, including: Using the extended Kalman filter method to solve and obtain the satellite orbit parameter information in the semi-autonomous operation mode.

6. The method for determining the orbit of a navigation satellite based on space-ground joint observation according to claim 5, wherein The evaluation and processing of the semi-autonomous operation mode satellite orbit parameter information to obtain the optimal satellite-ground joint support mode includes: S51. Obtain the precise ephemeris of the navigation satellite from MGEX to obtain the reference orbit parameters of the navigation satellite; The epoch of the reference orbit parameters of the navigation satellite is the same as the epoch of the semi-autonomous operation mode satellite orbit parameters; S52. Based on the reference navigation satellite orbit parameters, perform error calculation processing on the semi-autonomous operation mode satellite orbit parameter information to obtain the orbit parameter error value corresponding to the semi-autonomous operation mode; S53. According to the orbit parameter error value corresponding to the semi-autonomous operation mode, select the semi-autonomous operation mode corresponding to the minimum error value as the optimal satellite-ground joint support mode.

7. The method for determining the orbit of a navigation satellite based on space-ground joint observation according to claim 6, wherein The error calculation processing of the semi-autonomous operation mode satellite orbit parameter information based on the reference navigation satellite orbit parameters to obtain the error value corresponding to the semi-autonomous operation mode includes: Calculating the epoch difference between the reference navigation satellite orbit parameters and the semi-autonomous operation mode satellite orbit parameters to obtain the ephemeris epoch difference information; Performing root mean square processing on the ephemeris epoch difference information to obtain the error value corresponding to the semi-autonomous operation mode.

8. A navigation satellite orbit determination device based on space-ground joint observation, characterized in that, The device includes: A stellar angular distance measurement data acquisition module, used to acquire the stellar angular distance measurement data information of the navigation satellite in the preset semi-autonomous operation mode; The stellar angular distance measurement data includes the inter-satellite relative right ascension and relative declination data in the celestial coordinate system; Inter-satellite relative distance information acquisition module; It uses the Ka inter-satellite link to conduct inter-satellite observations and obtains inter-satellite relative distance information; Space-ground relative distance information acquisition module; It is used to conduct space-ground observations using the Ka-band space-ground link and obtain space-ground relative distance information; Satellite orbit parameter calculation module, according to the semi-autonomous operation mode, uses the preset initial value of the navigation satellite orbit parameters to obtain the satellite orbit parameter information in the semi-autonomous operation mode; Evaluation module; It conducts evaluation processing on the satellite orbit parameter information in the semi-autonomous operation mode to obtain the optimal space-ground joint support mode.

9. A navigation satellite orbit determination device based on space-ground joint observation, characterized in that, The device includes: A memory storing executable program code; A processor coupled to the memory; The processor calls the executable program code stored in the memory and executes the navigation satellite orbit determination method based on space-ground joint observations according to any one of claims 1-7.

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