GEO binocular orbit determination method and system based on inter-satellite communication

Abstract

The invention discloses a GEO binocular orbit determination method and system based on inter-satellite communication, and belongs to the technical field of aerospace, and the method comprises the steps: predicting the priori estimation of the state variable of a binocular orbit determination system through unscented transformation according to an orbit dynamics model of the binocular orbit determination system; simulating and generating space-based observation data based on an observation model of a binocular orbit determination system; according to the principle of unscented Kalman filtering, the priori estimation of the state variable and the space-based observation data are fused, and the posteriori estimation of the state variable of the binocular orbit determination system is obtained; repeatedly iterating until the posteriori estimation orbit determination precision of the state variable of the binocular orbit determination system meets the task requirement; according to the method, target observation data is obtained through binocular observation, observation data between observation satellites is obtained by considering inter-satellite communication, prediction data and the observation data are fused through an unscented Kalman filtering algorithm, and a high-precision orbit determination method is provided for a GEO spacecraft.

Description

Technical Field

[0001] The present invention relates to the field of aerospace technology, and in particular to a GEO binocular orbit determination method and system based on inter-satellite communication. Background Art

[0002] Due to its stationary nature relative to Earth, the geosynchronous Earth orbit (GEO) hosts many critical spacecraft, such as meteorological and communications satellites. To protect these critical spacecraft from non-cooperative targets like space debris, real-time monitoring of non-cooperative targets near GEO is necessary. Ground-based observations cannot meet this requirement because equipment is affected by the atmospheric environment and distance.

[0003] Binocular orbit determination based on space-based observations is currently an important means of monitoring non-cooperative GEO targets. However, existing binocular orbit determination schemes face problems such as large observation reference deviations and inconsistent observation data, making it difficult to improve orbit determination accuracy. The recent maturity and improvement of intersatellite laser communication technology has provided a foundation for the development and improvement of space-based binocular orbit determination. Summary of the Invention

[0004] In view of the problems existing in the prior art, the present invention provides a GEO binocular orbit determination method and system based on inter-satellite communication to improve the real-time orbit determination accuracy of non-cooperative targets.

[0005] The present invention is achieved through the following technical solutions: A GEO binocular orbit determination method based on intersatellite communication comprises the following steps: Step 1: Based on the orbital dynamics model of the binocular orbit determination system, use unscented transformation to predict the prior estimate of the state variables of the binocular orbit determination system; Step 2: Based on the observation model of the binocular orbit determination system, simulate and generate space-based observation data; Step 3: Based on the principle of unscented Kalman filtering, the prior estimate of the state variables is fused with the space-based observation data to obtain the posterior estimate of the state variables of the binocular orbit determination system. Step 4: Repeat steps 1 to 3 until the a posteriori estimation of the state variables of the binocular orbit determination system meets the task requirements.

[0006] Preferably, step 1 uses an unscented transformation to predict a priori estimates of the orbital states of the observation satellite and the target satellite based on the orbital dynamics model of the binocular orbit determination system, including: Define the orbital state variables of the observation satellite and the target satellite in the Earth's inertial coordinate system, and obtain the state variables of the binocular orbit determination system; Based on the current state variables of the binocular orbit determination system and combined with the principle of equal moments, the sigma point and weight for the next moment are generated; The prior estimate of the state variables of the binocular orbit determination system at the next moment is predicted based on the sigma point and weight at the next moment.

[0007] Preferably, in step 2, simulating and generating space-based observation data based on the observation model of the binocular orbit determination system includes: According to the observation vector and position vector of the binocular orbit determination system, the conversion relationship between the observation vector and the position vector is determined; Generate simulated observations based on the state variables and position vectors of the binocular orbit determination system, and convert the position information of the observation satellite and target satellite in the simulated observations into corresponding observation information based on the conversion relationship; Observation errors are added to the observation information to obtain simulated space-based observation data.

[0008] Preferably, the method for determining the observation error is as follows: The observation error is generated according to the observation accuracy of the binocular orbit determination system and the orbit determination accuracy of the observation satellite, and the simulated space-based observation data is obtained according to the accurate value of the observation error and the observation vector.

[0009] Preferably, in step 3, based on the principle of unscented Kalman filtering, the prior estimate of the state variables and the space-based observation data are fused to obtain the state variables of the binocular orbit determination system, including: The prior estimates of the state variables include a priori mean and a priori covariance, a new sigma point is generated based on the priori mean and the prior covariance, the sigma point is converted into a corresponding observation vector based on the transformation relationship between the observation vector and the position vector, and the mean and covariance of the observation vector, as well as the covariance between the observation vector and the state variable are obtained through an unscented transformation; According to the prior estimates of the state variables, the mean and covariance of the observation vector, and the covariance between the observation vector and the state variables, the posterior estimates of the state variables of the binocular orbit determination system are determined.

[0010] Preferably, determining the a posteriori estimate of the state variables of the binocular orbit determination system includes: The Kalman gain matrix is ​​obtained according to the prior covariance of the state variables, the estimated covariance of the observation vector, and the covariance between the observation vector and the state variables. The posterior estimate of the state variables of the binocular orbit determination system is obtained according to the Kalman gain matrix.

[0011] Preferably, the orbit determination accuracy of the a posteriori estimation of the state variables of the binocular orbit determination system in step 4 meets the task requirements, including: The root mean square error (RMSE) between the posterior estimate of the state variable and the true value is calculated. When the RMSE is less than the threshold, the orbit determination accuracy of the posterior estimate meets the mission requirements.

[0012] A GEO binocular orbit determination system based on intersatellite communication, comprising: A prediction module is used to predict the prior estimates of the state variables of the binocular orbit determination system using an unscented transformation based on the orbital dynamics model of the binocular orbit determination system; The simulation module is used to simulate and generate space-based observation data based on the observation model of the binocular orbit determination system; The fusion module is used to fuse the prior estimates of state variables with space-based observation data based on the principle of unscented Kalman filtering to obtain the posterior estimates of the state variables of the binocular orbit determination system; The iteration module is used to repeatedly execute the prediction module, simulation module and fusion module until the a posteriori estimation of the state variables of the binocular orbit determination system meets the task requirements.

[0013] An electronic device, comprising: Memory for storing computer programs; A processor is configured to implement the steps of the GEO binocular orbit determination method based on intersatellite communication when executing the computer program.

[0014] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of the GEO binocular orbit determination method based on intersatellite communication.

[0015] Compared with the prior art, the present invention has the following beneficial technical effects: The present invention discloses a GEO binocular orbit determination method based on intersatellite communication. First, based on the orbital dynamics model of the binocular orbit determination system, an unscented transformation is used to predict the prior estimates of the binocular orbit determination system's state variables, effectively capturing the system's dynamic characteristics. Subsequently, based on a carefully designed observation model, space-based observation data is simulated to ensure the accuracy and reliability of the observation data. Furthermore, through the principle of unscented Kalman filtering, the predicted prior estimates of the state variables are deeply integrated with the simulated space-based observation data to obtain a posterior estimate of the state variables. This fully utilizes the complementarity between the prediction and observation data and significantly improves the orbit determination accuracy. Finally, by iterating the above process until the orbit determination accuracy meets the mission requirements, the accuracy and stability of the orbit determination results are ensured. The advantages of this technical solution are that it not only overcomes the problems of large observation reference deviation and inconsistent observation data in traditional binocular orbit determination schemes, but also fully utilizes intersatellite communication technology to achieve the sharing and fusion of observation data between observation satellites, further improving the orbit determination accuracy. In addition, the method is highly automated and intelligent, capable of adaptively adjusting the orbit determination strategy to cope with the complex and changing space environment, providing a strong guarantee for the safe operation of GEO spacecraft.

[0016] This application also proposes a GEO binocular orbit determination system based on intersatellite communication, an electronic device and a computer storage medium, which have all the advantages of the above-mentioned GEO binocular orbit determination method based on intersatellite communication. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 This is a schematic diagram of the GEO binocular orbit determination algorithm based on intersatellite communication of the present invention; Figure 2 A flow chart of a GEO binocular orbit determination method based on intersatellite communication provided by the present invention; Figure 3 Schematic diagram of the binocular observation model based on intersatellite communication provided by the present invention; Figure 4 Schematic diagram of the monocular observation model; Figure 5 Schematic diagram of the traditional binocular observation model; Figure 6 Comparison of orbit determination errors between the present invention and the traditional orbit determination algorithm. DETAILED DESCRIPTION

[0019] To make the objectives, technical solutions, and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Generally, the components of the embodiments of the present application described and shown in the drawings herein can be arranged and designed in various different configurations.

[0020] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for protection, but merely represents selected embodiments of the present application. All other embodiments obtained by persons of ordinary skill in the art based on the embodiments in the present application without creative work are within the scope of protection of the present application.

[0021] like Figure 1 As shown, the present invention provides a GEO binocular orbit determination method based on intersatellite communication to improve the orbit determination accuracy of GEO spacecraft, which specifically includes the following steps: Step 1: Based on the orbital dynamics model of the binocular orbit determination system, use unscented transformation to predict the prior estimates of the state variables of the observation satellite and the target satellite, as follows: S1.1. Define the orbital state variables of observation satellite 1 in the Earth Inertial Coordinate System (ECI) as ; Where, and The distribution represents the position and velocity in the Earth Inertial Coordinate System (ECI); S1.2. Similarly, the orbital state variables of observation satellite 2 and target satellite in the Earth Inertial Coordinate System (ECI) can be defined as and ; S1.3. According to the orbital state variables of observation satellite 1, observation satellite 2 and target satellite, the state variables of the binocular orbit determination system are determined, which can be defined as dimensional vector, as follows:

[0022] S1.4 Assumptions The state variables of the binocular orbit determination system at the moment satisfy the normal distribution According to the traceless transformation formula, we can get The prior mean and covariance of the state variables of the binocular orbit determination system at a given moment are also called prior estimates.

[0023] Generated according to the principle of equal moments Sigma point at the moment With weight ,use Sigma point and weight prediction at the moment The prior mean of the system state at time and covariance .

[0024] Prior mean: ; Prior covariance: ; Among them, the sigma point and the corresponding weight The calculation formula is as follows:

[0025] ,

[0026] in, Representation matrix No. i List, represents the orbital dynamics model, The covariance matrix representing the error of the dynamic model does not change over time; Assuming state variables Obeying Gaussian distribution, according to the equal moment matching principle, the proportional factor is The transformation accuracy can be optimized; traceless transformation is a general term for a series of methods, one of the traceless transformations in step 1 of this application. It should be noted that this application is applicable to all traceless transformation methods.

[0027] Step 2: Design an observation model for binocular orbit determination and simulate and generate space-based observation data, as follows: S2.1. Define the position vector of the binocular orbit determination system in the Earth Inertial Coordinate System (ECI) as follows:

[0028] in, 、 、 are the position vectors of observation satellite 1, observation satellite 2 and target satellite in the ECI coordinate system, respectively. Figure 3 As shown, a triangle is formed between the observation satellite 1, the observation satellite 2 and the target satellite in the binocular orbit determination system based on intersatellite communication; S2.2. Define the observation vector of the binocular orbit determination system in the Earth Inertial Coordinate System (ECI) as ; in, 、 、 、 are the azimuth and elevation angles of the target satellite relative to observation satellite 1 and observation satellite 2, respectively. 、 are the azimuth and elevation angles of observation satellite 2 relative to observation satellite 1, 、 、 They are the distance between the two observation satellites, the distance from observation satellite 1 to the center of the earth, and the distance from observation satellite 2 to the center of the earth.

[0029] S2.3. Determine the conversion relationship between the satellite's position vector and the observation vector as follows:

[0030] in, Indicates observation satellite i The unit vector pointing to the target satellite can be calculated based on Figure 4 The monocular angle measurement model shown is calculated as follows: ,

[0031] S2.4. Generate simulated observations based on the position vector and observation vector, and use the precise initial values ​​of the state variables of the observation satellite and the target satellite in the simulated observation , and As a dynamic differential equation The initial value of is solved by numerical method Position vectors of satellite 1, observation satellite 2, and target satellite at all times 、 、 Then, using the conversion relationship between the observation quantity and the position vector, the precise value of the observation vector is obtained according to the position vector. ; S2.5. Generate observation error based on the observation accuracy of the binocular orbit determination system and the orbit determination accuracy obtained by the observation satellite , according to the observation error and the precise value of the observation vector, the simulated space-based observation data is obtained ; Among them, the angle measurement error 、 、 、 、 、 Determined by the angle measurement accuracy of the observation satellite, the ranging error 、 、 It is determined by the orbit determination accuracy of the observation satellite itself and obeys a Gaussian distribution with a mean of 0. The variance of the angle measurement error is the square of the angle measurement accuracy, and the variance of the distance measurement error is the square of the orbit determination accuracy.

[0032] Step 3: Based on the principle of unscented Kalman filtering, the prior estimates of state variables are integrated with space-based observation information to generate precise orbit determination data. Specifically, it includes: The prior estimate of the state variable obtained in step 1 is and , and step 2 obtains the space-based simulation observation information To perform the fusion: First, we need to use the prior mean of the state variable With prior covariance Generate new sigma points;

[0033] Then, using the conversion relationship between the position vector and the observation vector defined in step 2, the sigma point Converted into the corresponding observation vector , and obtain by weighted summation The mean and covariance of the moment observation vector; Estimated mean of the observation vector: ; Estimated covariance of the observation vector: ; in, is the covariance matrix of the observation error, which does not change with time; Similarly, the covariance between the observation vector and the state variable can be calculated by weighted summation of the product of the sigma point position and the observation vector:

[0034] According to the principle of unscented Kalman filtering, the prediction results of orbital state and simulated space-based observation data are integrated to obtain The mean and covariance of the state variables of the binocular orbit determination system at that moment, also known as the posterior estimate; According to the prior covariance of the system state variables , the estimated covariance of the observation vector and the covariance between them Calculate the Kalman gain matrix ; Using the Kalman gain matrix , can be considered Posterior estimates of the orbital state and covariance matrix at time 、 .

[0035] The posterior mean is obtained based on the estimated mean of the observation vector, the observation vector, and the prior mean.

[0036] Posterior mean: ; The posterior covariance is obtained based on the prior covariance, the covariance between the observation and the state.

[0037] Posterior covariance: .

[0038] Step 4: Repeat steps 1-3 until the orbit determination accuracy of the state variables of the binocular orbit determination system meets the mission requirements.

[0039] Calculate the posterior mean of the binocular orbit determination system and the true value The root mean square error between RMSE ,as follows:

[0040] in, That is The vector consisting of the 13th to 15th elements of The target real initial value in the simulation scene can be Substitute it into the kinetic model and calculate it.

[0041] Will Error limit with setting For comparison, if , indicating that the orbit determination accuracy of the target satellite meets the requirements; Otherwise, repeat steps S1-S3 until If the orbit determination cannot be completed within the limited time, it means that the algorithm has failed to determine the orbit.

[0042] Example 1 Aiming at the problem of orbit determination for non-cooperative GEO targets, a binocular orbit determination algorithm based on intersatellite communication is proposed. The specific implementation method includes the following steps: Initialization: Set the covariance matrix according to the dynamic model accuracy and observation accuracy 、 ; Set the initial value of the track state variable and the initial deviation of the state variables ; Set the time step of filter orbit determination and error limits ; Step S1: Calculate the prior estimates of the mean and covariance matrix of the state variables of the binocular orbit determination system based on the unscented transformation 、 ; Step S2: Generate a new set of sigma points based on the prior estimate of the state variables , and then transform it into the estimated value of the corresponding observation vector according to the observation model , and then obtain the mean of the observation vector according to the unscented transformation and covariance matrix At the same time, according to the real solution of the simulation scene Computational simulation of space-based observation data ; Step S3: The prior estimate of the state variable 、 , the estimated mean of the observation vector , simulated space-based observation data Substituting into the unscented Kalman filter formula, we can obtain the posterior estimates of the mean and covariance matrix of the state variables: 、 ; Step S4: Estimate the mean based on the posterior of the state variable The actual results of simulation Calculate the position root mean square error RMSE , and the error limit In contrast, if , it means that the orbit determination accuracy meets the requirements and the orbit determination is completed. , then return to step S1 to continue orbit determination at the next moment.

[0043] In this embodiment, the GEO satellite orbit dynamics model adopts a two-body model:

[0044] in, represents the Earth's gravitational constant, represents the distance between the center of the Earth and the center of mass of the near-Earth satellite, is the initial time of orbit recursion.

[0045] The mean of the initial state of the track in this embodiment is shown in Table 1, the initial deviation of the track is shown in Table 2, and the algorithm parameter settings are shown in Table 3; Table 1 Mean values ​​of initial track states of Example 1

[0046] Table 2 Track initial state deviation of Example 1 , this embodiment considers that the initial deviation is located at the deviation distribution At the boundary, that is, the initial covariance matrix

[0047]

[0048] Table 3 Algorithm parameter settings

[0049] In order to verify the high accuracy of the GEO binocular orbit determination algorithm based on intersatellite communication proposed in this invention, this implementation case compares the proposed algorithm with the monocular orbit determination algorithm and the traditional binocular orbit determination algorithm: different methods are used to The orbit determination was performed with a filter step size of 1 minute and the final orbit determination accuracy of different algorithms was compared. Among them, the traditional binocular orbit determination algorithm and the monocular orbit determination algorithm also use the same unscented Kalman filter method as the proposed algorithm, the difference lies in the observation model of the system; like Figure 4 As shown in Figure 2, the observation model of the monocular orbit determination algorithm is as follows:

[0050] like Figure 5 As shown in Figure 2, the observation model of the traditional binocular orbit determination algorithm is as follows:

[0051] Among them, , , ,but It represents the orbit determination result of the observation satellite 1 using monocular observation. represents the orbit determination result of the observation satellite 2 monocular observation, Indicates the orbit determination result of the traditional binocular orbit determination algorithm; The root mean square error of the target satellite RMSE As a measure of the orbit determination accuracy of different algorithms, the comparison results are as follows Figure 4 The results show that the orbit determination accuracy of the proposed algorithm is significantly improved.

[0052] The present invention discloses a GEO binocular orbit determination algorithm based on intersatellite communication. The algorithm includes the following steps: according to the orbital dynamics model of the binocular orbit determination system, the orbital state of the observation satellite and the target satellite is predicted using unscented transformation; the observation model of the binocular orbit determination is designed, and space-based observation data is generated by simulation; according to the principle of unscented Kalman filtering, the predicted result of the orbital state is integrated with the space-based observation information to generate precise orbit determination data; and it is determined whether the root mean square error of the orbital position reaches the specified accuracy. If not, the above steps are repeated. The method obtains target observation data through binocular observation, and at the same time considers intersatellite communication to obtain observation data between observation satellites. The predicted data and the observation data are integrated using the unscented Kalman filtering algorithm, providing a high-precision orbit determination algorithm for GEO spacecraft.

[0053] Correspondingly, this application also provides a GEO binocular orbit determination system based on intersatellite communication, including: A prediction module is used to predict the prior estimates of the state variables of the binocular orbit determination system using an unscented transformation based on the orbital dynamics model of the binocular orbit determination system; The simulation module is used to simulate and generate space-based observation data based on the observation model of the binocular orbit determination system; The fusion module is used to fuse the prior estimates of state variables with space-based observation data based on the principle of unscented Kalman filtering to obtain the posterior estimates of the state variables of the binocular orbit determination system; The iteration module is used to repeatedly execute the prediction module, simulation module and fusion module until the a posteriori estimation of the state variables of the binocular orbit determination system meets the task requirements.

[0054] It should be noted that in the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of each module is only a logical function division. There may be other division methods in actual implementation. For example, multiple modules can be combined or integrated into another device, or some features can be ignored or not executed. The modules described as separate components may or may not be physically separated. The components displayed as modules may be one physical unit or multiple physical units, that is, they may be located in one place, or they may be distributed in multiple different places. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment.

[0055] In addition, the modules in the various embodiments of the present invention may be integrated into a single processing unit, each module may exist physically separately, or two or more modules may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0056] An electronic device provided in an embodiment of the present application includes a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, it implements the steps of the GEO binocular orbit determination method based on intersatellite communication as described in any of the above embodiments.

[0057] Another electronic device provided in an embodiment of the present application may further include: an input port connected to the processor for transmitting multimodal data collected by an external acquisition device to the processor; a display unit connected to the processor for displaying the processing results of the processor to the outside world; and a communication module connected to the processor for enabling communication between the electronic device and the outside world. The display unit may be a display panel, a laser scanning display, etc.; the communication method adopted by the communication module includes but is not limited to mobile high-definition link technology (HML), universal serial bus (USB), high-definition multimedia interface (HDMI), wireless connection (including wireless fidelity technology (WiFi), Bluetooth communication technology, low-power Bluetooth communication technology, and communication technology based on IEEE802.11s).

[0058] An embodiment of the present application provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the steps of the GEO binocular orbit determination method based on intersatellite communication as described in any of the above embodiments are implemented.

[0059] For descriptions of the relevant portions of the GEO binocular orbit determination system based on intersatellite communication, the electronic device, and the computer-readable storage medium provided in the embodiments of this application, please refer to the detailed description of the corresponding portions of the GEO binocular orbit determination method based on intersatellite communication provided in the embodiments of this application, and will not be repeated here. In addition, portions of the above-mentioned technical solutions provided in the embodiments of this application that are consistent with the implementation principles of corresponding technical solutions in the prior art are not detailed in detail to avoid excessive elaboration.

[0060] The above content is only for explaining the technical idea of ​​the present invention and cannot be used to limit the protection scope of the present invention. Any changes made on the basis of the technical solution in accordance with the technical idea proposed by the present invention shall fall within the protection scope of the claims of the present invention.

Claims

1. A GEO binocular orbit determination method based on intersatellite communication, characterized in that: The following steps are involved: Step 1: Based on the orbital dynamics model of the binocular orbit determination system, use unscented transformation to predict the prior estimate of the state variables of the binocular orbit determination system; Step 2: Based on the observation model of the binocular orbit determination system, simulate and generate space-based observation data; Step 3: Based on the principle of unscented Kalman filtering, the prior estimate of the state variables is fused with the space-based observation data to obtain the posterior estimate of the state variables of the binocular orbit determination system. Step 4: Repeat steps 1 to 3 until the a posteriori estimation of the state variables of the binocular orbit determination system meets the task requirements.

2. A GEO binocular orbit determination method based on intersatellite communication according to claim 1, characterized in that: Step 1: Based on the orbital dynamics model of the binocular orbit determination system, the unscented transformation is used to predict the prior estimates of the orbital states of the observation satellite and the target satellite, including: Define the orbital state variables of the observation satellite and the target satellite in the Earth's inertial coordinate system, and obtain the state variables of the binocular orbit determination system; Based on the current state variables of the binocular orbit determination system and combined with the principle of equal moments, the sigma point and weight for the next moment are generated; The prior estimate of the state variables of the binocular orbit determination system at the next moment is predicted based on the sigma point and weight at the next moment.

3. The GEO binocular orbit determination method based on intersatellite communication according to claim 1, characterized in that: In step 2, based on the observation model of the binocular orbit determination system, space-based observation data is simulated and generated, including: According to the observation vector and position vector of the binocular orbit determination system, the conversion relationship between the observation vector and the position vector is determined; Generate simulated observations based on the state variables and position vectors of the binocular orbit determination system, and convert the position information of the observation satellite and target satellite in the simulated observations into corresponding observation information based on the conversion relationship; Observation errors are added to the observation information to obtain simulated space-based observation data.

4. A GEO binocular orbit determination method based on intersatellite communication according to claim 3, characterized in that: The method for determining the observation error is as follows: The observation error is generated according to the observation accuracy of the binocular orbit determination system and the orbit determination accuracy of the observation satellite, and the simulated space-based observation data is obtained according to the accurate value of the observation error and the observation vector.

5. The GEO binocular orbit determination method based on intersatellite communication according to claim 3, characterized in that: In step 3, based on the principle of unscented Kalman filtering, the prior estimate of the state variables and the space-based observation data are fused to obtain the state variables of the binocular orbit determination system, including: The prior estimates of the state variables include a priori mean and a priori covariance, a new sigma point is generated based on the priori mean and the prior covariance, the sigma point is converted into a corresponding observation vector based on the transformation relationship between the observation vector and the position vector, and the mean and covariance of the observation vector, as well as the covariance between the observation vector and the state variable are obtained through an unscented transformation; According to the prior estimates of the state variables, the mean and covariance of the observation vector, and the covariance between the observation vector and the state variables, the posterior estimates of the state variables of the binocular orbit determination system are determined.

6. A GEO binocular orbit determination method based on intersatellite communication according to claim 5, characterized in that: The determining of a posteriori estimates of state variables of the binocular orbit determination system includes: The Kalman gain matrix is ​​obtained according to the prior covariance of the state variables, the estimated covariance of the observation vector, and the covariance between the observation vector and the state variables. The posterior estimate of the state variables of the binocular orbit determination system is obtained according to the Kalman gain matrix.

7. The GEO binocular orbit determination method based on intersatellite communication according to claim 1, characterized in that: The orbit determination accuracy of the posterior estimation of the state variables of the binocular orbit determination system in step 4 meets the mission requirements, including: The root mean square error (RMSE) between the posterior estimate of the state variable and the true value is calculated. When the RMSE is less than the threshold, the orbit determination accuracy of the posterior estimate meets the mission requirements.

8. A GEO binocular orbit determination system based on intersatellite communication, characterized in that: include: A prediction module is used to predict the prior estimates of the state variables of the binocular orbit determination system using an unscented transformation based on the orbital dynamics model of the binocular orbit determination system; The simulation module is used to simulate and generate space-based observation data based on the observation model of the binocular orbit determination system; The fusion module is used to fuse the prior estimates of state variables with space-based observation data based on the principle of unscented Kalman filtering to obtain the posterior estimates of the state variables of the binocular orbit determination system; The iteration module is used to repeatedly execute the prediction module, simulation module and fusion module until the a posteriori estimation of the state variables of the binocular orbit determination system meets the task requirements.

9. An electronic device, characterized in that: include: Memory for storing computer programs; A processor, configured to implement the steps of the GEO binocular orbit determination method based on intersatellite communication as described in any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the GEO binocular orbit determination method based on intersatellite communication are implemented as described in any one of claims 1 to 7.

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