Method and device for maintaining a catalog of space objects fusing post-detection multi-source observation data

Abstract

This invention proposes a method and apparatus for maintaining a space target catalog database by fusing post-hoc multi-source observation data, belonging to the field of space situational awareness. The method includes: acquiring and preprocessing post-hoc observation data of the observed space target; calculating observation arc segments using the preprocessed observation data, using the obtained initial orbit determination results as the orbital features of the observation arc segments, and then matching the observation arc segments with the orbital data of targets in the catalog database, using the successfully matched observation arc segments as the associated arc segments of the target; fusing multiple associated arc segments of the target for precise orbit determination, and updating and maintaining the catalog database using the results of the precise orbit determination. This invention can quickly preprocess the input multi-source observation data and complete the association matching between the data and space targets, and finally fuse the multi-source observation data for precise orbit determination, ensuring computational efficiency and process integrity, and realizing the maintenance of the space target catalog database.

Description

Technical Field

[0001] This invention belongs to the field of space situational awareness, and specifically relates to a method and apparatus for maintaining a space target catalog library that integrates post-event multi-source observation data. Background Technology

[0002] With the rapid increase in the number of on-orbit space targets and the increasing complexity of the space environment, the accuracy and timeliness of the space target catalog have become key requirements in the field of space situational awareness. As the core infrastructure of space situational awareness, the maintenance quality of the space target catalog directly affects the safety and sustainability of space activities. Currently, the maintenance technology of the space target catalog mainly faces the following technical challenges: (1) The noise and batch mixing of equipment data are frequent, and it is difficult to directly establish the correlation between the raw data collected by the equipment and the targets in the catalog; (2) Catalog maintenance needs to process observation data from various sensors such as ground-based radar, optical telescopes, and space-based monitoring equipment. These data have significant differences in sampling frequency, observation accuracy, and data format, and traditional data processing methods are difficult to achieve effective multi-source data fusion, resulting in low information utilization; (3) In actual observation, due to the limitations of observation conditions and equipment performance, a large amount of observation data exhibits short arc characteristics. Existing catalog maintenance methods face problems such as low initial orbit determination accuracy and difficulty in arc segment correlation matching when processing short arc data, which seriously affects the accuracy and integrity of catalog data. To address the aforementioned technical challenges, there is an urgent need to develop an innovative cataloging database maintenance method that can effectively integrate multi-source observation data, improve the automation level of data processing, and ensure the accuracy and reliability of cataloging data. This method needs to break through the limitations of traditional data processing models, achieving end-to-end optimization from data acquisition and processing to cataloging updates, thus providing more reliable technical support for space situational awareness. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of existing technologies and propose a method and apparatus for maintaining a space target catalog database by integrating post-hoc multi-source observation data. This invention can quickly complete data processing and construct the correlation between the original observation data and the targets in the catalog database based on the provided post-hoc multi-source observation data and historical catalog database. It can also integrate post-hoc multi-source observation data to update the catalog database, thereby achieving the maintenance of the space target catalog database.

[0004] A first aspect of this invention proposes a method for maintaining a spatial target cataloging database that integrates post-hoc multi-source observation data, comprising:

[0005] Acquire and preprocess post-hoc observation data of the observed space targets;

[0006] The observation arc segment is calculated using the preprocessed observation data, and the initial orbit determination result is used as the orbit feature of the observation arc segment corresponding to the observation data.

[0007] Based on the orbital characteristics of the observed arc segment, the observed arc segment is matched with the orbital data of the target in the catalog library, and the successfully matched observed arc segment is taken as the associated arc segment of the target;

[0008] The target is precisely orbited by integrating multiple associated arc segments, and the cataloging library is updated and maintained using the results of the precise orbit determination.

[0009] In one specific embodiment of the present invention, the post-observation data of the observed space target includes: angle measurement data, distance measurement data, and velocity measurement data;

[0010] The angle measurement data includes: azimuth angle. and pitch angle Right Ascension and declination ;

[0011] The ranging data is the relative distance between the observed space target and the measuring equipment. ;

[0012] The speed measurement data is the rate of change of relative distance over time. ;

[0013] Record the observation time as Ground-based optical station The observation data at time is The observation data from the ground-based radar station is The observation data from the space-based optical station are .

[0014] In one specific embodiment of the present invention, the preprocessing includes:

[0015] 1) Calculate the error between the observed data and the predicted data, i.e., the OC error;

[0016] For angle measurement data from ground-based optical stations, in The pointing vector predicted at time step is denoted as :

[0017]

[0018] in, This represents the coordinate transformation matrix from the Earth-Fixed system to the ENU coordinate system; express The coordinate transformation matrix from the Earth-Fixed System to the J2000 System at any time; for The position vector of the spatial target at any given moment; For ground-based optical stations The position vector in the J2000 system at any given moment;

[0019] The OC error of the pointing vector of the ground-based optical station Calculated using the following formula:

[0020]

[0021] in, Represents a pointing vector with a modulus of 1; for ground-based optical stations, The following formula is used to calculate:

[0022]

[0023] This represents the angle between the actual pointing vector and the predicted pointing vector. The range of values ​​is ;

[0024] For the angle measurement data of space-based optical stations, in The pointing vector predicted at time step is denoted as :

[0025]

[0026] in, for The position vector of the space-based satellite in the J2000 system at any given time;

[0027] OC error of the pointing vector of the space-based optical station Calculated using the following formula:

[0028]

[0029] in, Based on right ascension and declination The obtained pointing vector, The following formula is used to calculate:

[0030]

[0031] For the ranging data of ground-based radar stations, in The distance measurement data for time prediction is denoted as :

[0032]

[0033] OC error of ground-based radar ranging data Calculated using the following formula:

[0034]

[0035] Regarding the velocity data from ground-based radar stations, The predicted speed data is denoted as :

[0036]

[0037] in, The velocity vector of the observation equipment in the J2000 system; and These are the position vector and velocity vector of the observed space target in the J2000 system, respectively;

[0038] OC error of velocity data from ground-based radar stations Calculated using the following formula:

[0039]

[0040] 2) Based on the results of step 1), the original observation data is filtered to obtain preprocessed observation data;

[0041] Among them, for The observation data from ground-based or space-based optical stations at any given time, with a preset maximum allowable pointing angle deviation. ,according to Calculate the angle measurement OC error threshold For the angle measurement data in the i-th set of observations, calculate its OC error. If satisfied If the i-th group of observations is not an outlier, then the i-th group of observations is not an outlier; otherwise, the i-th group of observations is discarded.

[0042] for The observation data from the ground-based radar station at any given time, and its OC error threshold includes... ;in, The OC error threshold for ranging The velocity measurement OC error threshold is used; for the i-th group of ground-based radar station observation data, the corresponding values ​​are calculated respectively. , Let be the OC error of the ranging data corresponding to the observation data of the i-th group of ground-based radar stations. Let be the OC error of the velocity data corresponding to the observation data of the i-th group of ground-based radar stations; if simultaneously:

[0043]

[0044] If the observation data of the i-th group of ground-based radar stations is not an outlier, then the observation data of the i-th group of ground-based radar stations will be discarded.

[0045] In a specific embodiment of the present invention, the step of calculating the observed arc segment using the preprocessed observation data includes:

[0046] Using the processed observation data from the ground-based optical station, the equation for the observation arc segment of the ground-based optical station is solved as follows:

[0047]

[0048] in, They are respectively Components along the x-axis, y-axis, and z-axis in the J2000 series; They are respectively Components along the x-axis, y-axis, and z-axis in the J2000 series; They are respectively Components along the x-axis, y-axis, and z-axis in the J2000 series; The Lagrange coefficients are the result of a power series expansion of the orbital equations;

[0049] Using the preprocessed observation data from the ground-based radar station, the equation for the observation arc segment of the ground-based radar station is solved as follows:

[0050]

[0051] Using the processed observation data from the space-based optical station, the equation for the observation arc segment of the space-based optical station is solved as follows:

[0052]

[0053] in, They are respectively Components along the x-axis, y-axis, and z-axis in the J2000 series;

[0054] Using the preprocessed observation data, the least squares solution is obtained by solving the corresponding equations iteratively. , , , This process continues until the preset orbit accuracy requirements are met, thus obtaining the initial orbit determination result. That is, the initial moment Target position vector and velocity vector .

[0055] In one specific embodiment of the present invention, matching the observed arc segment with the orbital data of the target in the catalog database includes:

[0056] For the i-th target in the catalog, the target's trajectory is recursively calculated based on the target's historical trajectory information in the catalog. At that moment, we received The position vector of the i-th target at time i and velocity vector , denoted as a set of orbital states ;Will and The position error is calculated by comparing the results using the following formula. and speed error :

[0057]

[0058] Set position error threshold and speed error threshold If both conditions are met and Then determine The corresponding observation arc segment is associated with the target; otherwise, the observation arc segment is not associated with the target.

[0059] In one specific embodiment of the present invention, matching the observed arc segment with the orbital data of the target in the catalog database includes:

[0060] for A set of ground-based radar observation data at a given time First, the observation data is converted into a position vector in the J2000 system using the following formula:

[0061]

[0062] in, Let S be the position vector of the ground-based optical station S in the Earth-solid system;

[0063] Then, the historical orbital data of the target in the catalog is recursively pushed to... The position vector is obtained at each moment. and velocity vector Then the position error vector between the observed data and the target ;

[0064] UNW system triaxial unit direction vector passes through and The calculation is performed as follows:

[0065]

[0066] The position error in the UNW coordinate system Calculated using the following formula:

[0067]

[0068] Set position error thresholds in three directions respectively. ;

[0069] For an observation arc segment, if the observed data exceeding a certain proportion satisfy... If the observation arc segment is associated with the target, then the observation arc segment is determined to be associated with the target; otherwise, the observation arc segment is not associated with the target.

[0070] In one specific embodiment of the present invention, the precise orbit determination by fusing multiple associated arc segments of the target includes:

[0071] 1) Establish the observation model, state equations, variational equations of motion, and state transition matrix differential equations; the specific steps are as follows:

[0072] 1-1) Establish the observation model:

[0073]

[0074] in, for Observations of time, Represents system state variables;

[0075] They are respectively Components along the x-axis, y-axis, and z-axis in the ENU system;

[0076] Establish system observations Regarding system status Jacobian matrix:

[0077]

[0078] The partial derivative expression in the formula is as follows:

[0079]

[0080]

[0081]

[0082]

[0083]

[0084] 1-2) Establish the state equations;

[0085] The state equation expression for the space target is as follows:

[0086]

[0087] in, The acceleration of a space target is represented by time. Position vector and velocity vector Sure; These represent the gravitational acceleration due to two bodies, the gravitational perturbation acceleration due to the Earth's non-spherical shape, the gravitational perturbation acceleration due to atmospheric drag, the gravitational perturbation acceleration due to solar radiation pressure, the gravitational perturbation acceleration due to the third body (the Sun), and the gravitational perturbation acceleration due to the third body (the Moon).

[0088] 1-3) Establish the variational equation of motion:

[0089]

[0090] in, and They represent and The variation, Let these represent the zero matrix and the identity matrix, which are 3×3 in size, respectively.

[0091] 1-4) Establish the differential equation of the state transition matrix:

[0092]

[0093] in, Indicates from Moment State Transferred to Moment State The state transition matrix;

[0094] 2) Let the total number of observation data samples be m;

[0095] For the j-th observation sample, the observation time is denoted as . The actual observed measurements are recorded as The standard deviation of the observations is denoted as , These are the j-th group of observation data. Standard deviation;

[0096] Solve the simultaneous state equations and state transition matrix differential equations, given the initial state values. and initial values ​​of the state transition matrix Obtained through numerical integration System state at time 1 and state transition matrix , forming a system state set and set of state transition matrices , ;

[0097] 3) Use and The set of predicted measurements is calculated based on the observation model. and observation matrix set ;

[0098] 4) Calculate the residual set The normal equation is derived using the least squares method, and its expression is as follows:

[0099]

[0100] in, Let J be the weighting matrix of the j-th group of observations;

[0101] Solving the normal equations yields the optimal state correction in the least squares sense. ;

[0102] 5) Update the estimated state ;

[0103] 6) Judgment:

[0104] If the modulus of the state correction Less than the set threshold If the algorithm converges, it will output the precise orbit determination result. That is, position vector and velocity vector Otherwise, As a new Then return to step 2) and continue to the next iteration.

[0105] A second aspect of the present invention provides a space target cataloging database maintenance device that integrates post-hoc multi-source observation data, comprising:

[0106] The observation data preprocessing module is used to acquire and preprocess the post-observation data of the observed space targets.

[0107] The initial orbit determination module is used to calculate the observation arc segment using the preprocessed observation data, and use the obtained initial orbit determination result as the orbit feature of the observation arc segment corresponding to the observation data.

[0108] The arc segment association module is used to match the observed arc segment with the orbital data of the target in the catalog based on the orbital characteristics of the observed arc segment, and to use the successfully matched observed arc segment as the associated arc segment of the target;

[0109] The precise orbit determination module is used to fuse multiple associated arc segments of the target for precise orbit determination, and to update and maintain the cataloging library using the results of the precise orbit determination.

[0110] A third aspect of the present invention provides an electronic device comprising:

[0111] At least one processor; and a memory communicatively connected to said at least one processor;

[0112] The memory stores instructions executable by the at least one processor, which are configured to perform the above-described method for maintaining a spatial target catalog library by fusing post-hoc multi-source observation data.

[0113] A fourth aspect of the present invention provides a computer-readable storage medium storing computer instructions for causing the computer to execute the above-described method for maintaining a spatial target cataloging library by fusing post-hoc multi-source observation data.

[0114] The features and beneficial effects of this invention are as follows:

[0115] This invention achieves efficient fusion and preprocessing of multi-source observation data. It comprehensively utilizes post-hoc observation data from various sensors, including ground-based radar, ground-based optics, and space-based optics, and combines this data with historical orbital information from a catalog database. A complete data quality assessment system is constructed using orbital error propagation characteristics. By calculating the OC error between observed and predicted values ​​and setting scientific thresholds, outliers are effectively eliminated, providing a high-quality, clean data foundation for subsequent processing.

[0116] To address the challenges of processing short-arc observation data, this invention proposes a hierarchical trajectory determination strategy. It employs an improved Laplace initial trajectory determination algorithm, establishing corresponding solution equations for different types of observation data to quickly and accurately obtain the trajectory characteristics of short arcs. Furthermore, it innovatively proposes a dual-association matching mechanism: firstly, directly comparing the initial trajectory results with historical trajectories; secondly, setting a stricter matching threshold based on OC error and utilizing the path error propagation characteristics in the UNW coordinate system to significantly improve the accuracy of the association between arc segments and cataloging targets.

[0117] This invention establishes a complete system for precise orbit determination and quality assessment. By integrating multiple associated arc segments of the same target, and employing a precise orbit determination algorithm that includes residual statistics, variance control, and systematic error estimation, a data assessment report is generated, containing indicators such as outlier rate, mixed batch rate, systematic error, and random error. The entire process achieves fully automated processing from data preprocessing, initial orbit determination, arc segment association to precise orbit determination. Finally, the cataloging library is dynamically updated based on the assessment results, significantly improving the accuracy, timeliness, and completeness of space target orbit data.

[0118] This invention can effectively improve the maintenance efficiency and quality of the space target cataloging database, provide reliable technical support for applications such as space situational awareness and space traffic management, and is of great significance for ensuring space environment safety and sustainable development. Attached Figure Description

[0119] Figure 1 This is an overall flowchart of a spatial target cataloging library maintenance method that integrates post-hoc multi-source observation data, according to an embodiment of the present invention.

[0120] Figure 2 This is a schematic diagram of the azimuth angle A and elevation angle E in a specific embodiment of the present invention.

[0121] Figure 3 This is a schematic diagram of the UNW coordinate system in a specific embodiment of the present invention. Detailed Implementation

[0122] This invention proposes a method and apparatus for maintaining a spatial target catalog database that integrates post-hoc multi-source observation data. The invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0123] A first aspect of this invention proposes a method for maintaining a spatial target cataloging database that integrates post-hoc multi-source observation data, comprising:

[0124] Acquire and preprocess post-hoc observation data of the observed space targets;

[0125] The observation arc segment is calculated using the preprocessed observation data, and the initial orbit determination result is used as the orbit feature of the observation arc segment corresponding to the observation data.

[0126] Based on the orbital characteristics of the observed arc segment, the observed arc segment is matched with the orbital data of the target in the catalog library, and the successfully matched observed arc segment is taken as the associated arc segment of the target;

[0127] The target is precisely orbited by integrating multiple associated arc segments, and the cataloging library is updated and maintained using the results of the precise orbit determination.

[0128] In a specific embodiment of the present invention, the overall process of the method for maintaining a spatial target catalog library that integrates post-hoc multi-source observation data is as follows: Figure 1 As shown, it includes the following steps:

[0129] 1) Obtain post-hoc observation data of the observed space targets and perform preprocessing.

[0130] In this embodiment, the post-hoc observation data can come from multiple sources, including ground-based radar equipment, ground-based optical equipment, and space-based optical equipment. To more quickly and effectively preprocess this post-hoc observation data, it is necessary to combine prior orbital information, i.e., the historical orbital information of the target in the catalog, and use orbit-based observational bias characteristics to filter the post-hoc observation data; the specific steps are as follows:

[0131] 1-1) Obtain post-hoc observation data of the observed space target.

[0132] In this embodiment, post-hoc observation data from multi-source devices can be divided into angle measurement data (ground-based devices typically use azimuth angles). and pitch angle Space-based equipment typically uses right ascension. and declination Distance measurement data and speed measurement data Given the observation time Ground-based optical station The observation data at time is The observation data from the ground-based radar station is The observation data from the space-based optical station are .in:

[0133] The azimuth A and elevation E data provided by ground-based optical or ground-based radar equipment reflect the relative position and pointing information of the observed target with respect to the measuring equipment in the Northeast-Eastern Sky (ENU) coordinate system. Figure 2 This is a schematic diagram of the azimuth angle A and elevation angle E in a specific embodiment of the present invention. Figure 2 In the diagram, OXYZ represents the Earth-Firm System (ECEF system), and S represents the location of the measuring station. and These represent the longitude and latitude of the station, respectively. A northeast-sky coordinate system is constructed with station S as the origin, the x-axis pointing due east, the y-axis pointing due north, and the z-axis pointing towards the sky. Represents a pointing vector with a modulus of 1 (i.e.) ), The angle between the plane and the Sxy plane is the pitch angle E. The angle between the projection onto the Sxy plane and the x-axis is the azimuth angle A. It can be calculated using the following formula:

[0134]

[0135] Right ascension provided by ground-based or space-based optical equipment and declination The data reflects the relative position and pointing information of the observed target with respect to the measuring equipment in the J2000 system. This embodiment will be based on right ascension. and declination The obtained pointing vector is denoted as Right Ascension for The angle between the projection in the XY plane and the X-axis, declination for The angle with the XY plane, It can be calculated using the following formula:

[0136]

[0137] in, They are respectively Components along the X, Y, and Z axes in the J2000 series.

[0138] In addition to angle measurement information, radar can also provide range and velocity data. Range data refers to the relative distance between the observed target and the measuring equipment. The speed measurement data is the rate of change of relative distance over time. These two sets of data are related to the position and velocity of the observation equipment in the J2000 system. Let the position vector and velocity vector of the observed space target in the J2000 system be respectively... and Let the position vector and velocity vector of the observation equipment in the J2000 system be respectively... and .

[0139] Combining the historical trajectory characteristics of the cataloging database, The position vector of the spatial target at a given time and velocity vector This can be provided through orbital propagation (high-precision orbital integration or SPG4 model recursion). For the ground-based optical station S, it remains relatively stationary with respect to the Earth. Position vector in the J2000 system at any given time and velocity vector It can be calculated using the following formula:

[0140]

[0141] in, express The coordinate transformation matrix from the Earth-Fixed System (ECEF system) to the J2000 system at any time. Let S be the position vector of the ground-based optical station S in the Earth-solid system. Let be the angular velocity vector of the Earth's rotation in the Earth-fixed system. This represents the magnitude of the Earth's angular velocity. and All are constants.

[0142] 1-2) Based on the results of step 1-1), calculate the error between the observed data and the predicted data, i.e., the OC error.

[0143] In this embodiment, for the angle measurement data of the ground-based optical station, The pointing vector predicted at time step is denoted as It can be calculated using the following formula:

[0144]

[0145] in, This represents the coordinate transformation matrix from the Earth-fixed system to the ENU coordinate system. Since the station remains relatively stationary in the Earth-fixed system, this matrix is ​​a constant matrix.

[0146] OC error of the pointing vector of the ground-based optical station Calculated using the following formula:

[0147]

[0148] in, This represents the angle between the actual pointing vector and the predicted pointing vector. The range of values ​​is For ground-based optical stations, due to the pointing vector and The modulus is 1. , express and The included angle. (The above definition) The explanation is as follows: when the predicted pointing vector Compared with the measured pointing vector When the directions are consistent, OC error =0; otherwise OC error ,and The larger the value, the greater the deviation between the predicted and measured directions. The larger.

[0149] For the angle measurement data of space-based optical stations, in The pointing vector predicted at time step is denoted as It can be calculated using the following formula:

[0150]

[0151] in, for The position vector of the space-based satellite in the J2000 system can be obtained through its onboard GNSS positioning device.

[0152] OC error of the pointing vector of the space-based optical station Calculated using the following formula:

[0153]

[0154] in, For space-based observation data (right ascension) and declination The calculated measured pointing vector. For space-based optical stations, express and The included angle.

[0155] The meaning of OC error in space-based angle measurement data is the same as that in ground-based angle measurement data, and the screening method is also the same, so it will not be repeated here.

[0156] For the ranging data of ground-based radar stations, in The distance measurement data for time prediction is denoted as It can be calculated using the following formula:

[0157]

[0158] OC error of ground-based radar ranging data Calculated using the following formula:

[0159]

[0160] Regarding the velocity data from ground-based radar stations, The predicted speed data is denoted as It can be calculated using the following formula:

[0161]

[0162] OC error of velocity data from ground-based radar stations Calculated using the following formula:

[0163]

[0164] 1-3) Based on the results of step 1-2), the original observation data is filtered to obtain preprocessed observation data.

[0165] In this embodiment, for The OC error of the observation data from ground-based or space-based optical stations at any given time is... By setting a threshold To filter out outliers in the observation data, specifically, to preset the maximum permissible pointing angle deviation. (The value ranges from 0 to 180°. In ground-based equipment, it's typically set to 0.5°, while in space-based equipment, the accuracy is usually lower, so it can be set to 2°.) According to... Calculate the angle measurement OC error threshold For the angle measurement data in the i-th set of observations, calculate its OC error. If the conditions are met If the i-th group of observations is not an outlier, then it is considered an outlier and the i-th group of observations needs to be removed.

[0166] In this embodiment, it can be achieved by setting... Threshold filtering is used to identify outliers in ranging data; specifically, a preset ranging OC error threshold is set. For the i-th group of ground-based radar station observation data, calculate the OC error of the ranging data. If satisfied If the distance measurement data in the i-th group of ground-based radar station observation data is not an outlier, then it is considered that the distance measurement data in the i-th group of ground-based radar station observation data is not an outlier; otherwise, it is an outlier and all the distance measurement data (including distance measurement data and other observation data) in the i-th group of ground-based radar station observation data need to be removed.

[0167] In this embodiment, it can be achieved by setting... Threshold filtering is used to identify outliers in speed measurement data. Specifically, a preset speed measurement OC error threshold is established. For the i-th group of ground-based radar station observation data, calculate the OC error of the velocity data. If satisfied If the velocity data in the i-th group of ground-based radar station observation data is not an outlier, then it is considered an outlier and all the i-th group of ground-based radar station observation data (including velocity data and other observation data) needs to be removed.

[0168] It should be noted that when a set of observation data contains multiple different types of observations, if any one of the observations is determined to be an outlier, then the entire set of observation data needs to be extracted.

[0169] For example, for A set of observation data from the ground-based radar station at a certain time is Its OC error includes By setting a threshold Specifically, filtering out outliers from ground-based radar station measurement data. The setup method is the same as the observation data from the ground-based optical station. (Value > 0, usually can be set to 10km) (Value > 0, usually set to 1 m / s). Calculate the OC error for the angle measurement data in the i-th group of ground-based radar station observation data. If both conditions are met:

[0170]

[0171] If the observation data of the i-th group of ground-based radar stations is not considered an outlier, then it is considered an outlier and the observation data of the i-th group of ground-based radar stations needs to be removed.

[0172] 2) Calculate the observation arc segment using the observation data preprocessed in step 1), and use the obtained initial orbit determination result as the orbit feature of the observation arc segment corresponding to the observation data.

[0173] In this embodiment, an arc segment is a set of continuous observation data. If the observation duration of an arc segment is short (typically 1-10 minutes for low-Earth orbit satellites), it is called a short arc. The Laplace initial orbit determination algorithm is used for initial orbit determination. This requires distinguishing the type of short arc data and using different solution equations to determine the initial orbit at a given initial time. Target position vector and velocity vector .

[0174] Specifically, using the processed observation data from the ground-based optical station, the equation for the observation arc segment of the ground-based optical station is solved as follows:

[0175]

[0176] in, They are respectively Components along the x-axis, y-axis, and z-axis in the J2000 series; They are respectively Components along the x-axis, y-axis, and z-axis in the J2000 series; They are respectively Components along the x-axis, y-axis, and z-axis in the J2000 series; The Lagrange coefficients are obtained by expanding the orbital equations into a power series.

[0177] Using the preprocessed observation data from the ground-based radar station, the equation for the observation arc segment of the ground-based radar station is solved as follows:

[0178]

[0179] Using the processed observation data from the space-based optical station, the equation for the observation arc segment of the space-based optical station is solved as follows:

[0180]

[0181] in, They are respectively Components along the x-axis, y-axis, and z-axis in the J2000 series.

[0182] The above solution equations are formally about the initial orbital parameters. The specific solution process for the system of linear algebraic equations is as follows: Using preprocessed observation data, the least squares solution is obtained by solving the corresponding equations iteratively. , , , This process continues until the orbit determination accuracy requirements are met, yielding the initial orbit determination result. .

[0183] 3) Based on the results of steps 1) and 2), the observed arc segments are matched with the orbital data of the targets in the catalog library, and the successfully matched observed arc segments are used as the associated arc segments of the observed space targets.

[0184] In this embodiment, two methods can be used for association matching.

[0185] One approach is to propagate the target's trajectory to [the target's current location] based on the target's historical trajectory information in the catalog. The result of determining the position and velocity at time t and the initial trajectory A comparison is performed. Specifically, for the i-th target in the catalog, its historical trajectory information in the catalog is recursively extrapolated to the next target using trajectory recursion. At that moment, we received The position vector of the i-th target at time i and velocity vector , denoted as a set of orbital states .Will and The position error is calculated by comparing the results using the following formula. and speed error :

[0186]

[0187] In this embodiment, a position error threshold is set. and speed error threshold If both conditions are met and Then it is believed The corresponding observation arc segment can be associated with the target; otherwise, the observation arc segment is considered not associated with the target.

[0188] Another approach is to utilize the characteristic that the propagation of errors along the track is most significant in orbital dynamics error propagation for the observation arc of a ground-based radar station, which allows for more accurate correlation matching. Specifically, for A set of ground-based radar observation data at a given time First, the observation data is converted into a position vector in the J2000 system using the following formula:

[0189]

[0190] Before comparison, the historical orbital data of the targets in the catalog needs to be recursively pushed to... The position vector is obtained at each moment. and velocity vector Then the position error vector between the observed data and the target . Figure 3This is a schematic diagram of the UNW coordinate system in a specific embodiment of the present invention. In the diagram, the UNW coordinate system has the spatial target T as its origin, the U direction as the velocity direction, the W direction as the positive normal to the orbit, and the N direction perpendicular to the U and W directions, forming a right-handed coordinate system. These are the position error vectors. The components in the U, N, and W directions. The three-axis unit direction vector of the UNW system can be obtained through... and The calculation is performed as follows:

[0191]

[0192] The position error in the UNW coordinate system It can be calculated using the following formula:

[0193]

[0194] It can be set The threshold is used to further match and correlate ground-based radar observation data.

[0195] Specifically, position error thresholds are set for three directions respectively. The error is usually larger along the track direction (U direction) and smaller along the orbital normal direction (W direction). It is usually set to 10km. It is usually set to 5km. The standard setting is 1 km. For an observation arc, if most of the observation data (the percentage can be set, such as over 80%) meets the requirement... If the observation arc segment is associated with the target, then it is considered that the observation arc segment is related to the target; otherwise, it is considered that the observation arc segment is not associated with the target.

[0196] 4) Repeat steps 1)-3). After obtaining a sufficient number of associated arc segments, merge multiple associated arc segments of the same target to perform precise orbit determination, and use the results of the precise orbit determination to update and maintain the catalog library; the specific steps are as follows:

[0197] 4-1) Establish the observation model, state equations, variational equations of motion, and state transition matrix differential equations; the specific steps are as follows:

[0198] 4-1-1) Establish an observation model.

[0199] In this embodiment, the observation model differs for different measurement data. In the ground-based observation model, the ranging system outputs the distance between the observed target and the observation station. and distance change rate The angle measurement system outputs the azimuth angle of the observed target relative to the horizontal coordinate system of the station. and pitch angle The corresponding observation model can then be described as follows:

[0200]

[0201] in, for Observations of time, Represents system state variables; express Moment Only by and Decide.

[0202] They are respectively Components along the x-axis, y-axis, and z-axis in the ENU system.

[0203] The system's observation matrix is ​​required in both the initial orbit determination and orbit improvement processes. That is, system observations Regarding system status The Jacobian matrix of the observation equation with respect to the system state is:

[0204]

[0205] in, express Moment Only by and Decide. The partial derivative expression in the formula is as follows:

[0206]

[0207]

[0208]

[0209]

[0210]

[0211] 4-1-2) Establish the state equations.

[0212] In this embodiment, the state equation expression of the space target is as follows:

[0213]

[0214] in, The acceleration of a space target is represented by time. Position vector and velocity vector Sure; These represent the acceleration due to gravitational forces acting on two bodies, the acceleration due to the non-spherical gravitational perturbation of Earth, the acceleration due to atmospheric drag perturbation, the acceleration due to solar radiation pressure perturbation, the acceleration due to gravitational perturbation of the third body (the Sun), and the acceleration due to gravitational perturbation of the third body (the Moon), respectively.

[0215] 4-1-3) Establish the variational equation of motion.

[0216] In this embodiment, the purpose of establishing the variational equations of motion is to obtain the coefficient matrix of the state transition matrix differential equation. Linearizing the state equations yields the variational equations of motion, expressed as follows:

[0217]

[0218] in, and They represent and The variation, Let represent the zero matrix and the identity matrix, which are 3×3 in size, respectively. Since analytical expressions are too complex, numerical differentiation is usually used for approximation in calculations. As there are already mature toolkits for numerical differentiation, it will not be elaborated here.

[0219] 4-1-4) Establish the state transition matrix differential equation.

[0220] In this embodiment, the differential equation of the state transition matrix is ​​derived based on the variational equation of motion, and its expression is as follows:

[0221]

[0222] in, Indicates from Moment State Transferred to Moment State The state transition matrix.

[0223] 4-2) Let the total number of observation data samples be m. For the j-th group of observation data, the observation time is denoted as m. The actual observed measurements are recorded as The standard deviation of the observations is denoted as , These are the j-th group of observation data. The standard deviation.

[0224] By combining the state equations of step 4-1-2) and the state transition matrix differential equations of step 4-1-4), given the initial state values... and initial values ​​of the state transition matrix Obtained through numerical integration System state at time 1 and state transition matrix (For simplicity, the state transition matrix is ​​abbreviated as ) ), forming the system state set and set of state transition matrices , .

[0225] 4-3) Use and The predicted measurement set is calculated based on the observation model (4-1-1). and observation matrix set .

[0226] 4-4) Calculate the residual set The normal equation is derived using the least squares method, and its expression is as follows:

[0227]

[0228] in, Let be the weighting matrix for the j-th group of measurement data. Solve the normal equations to obtain the optimal state correction in the least squares sense. .

[0229] 4-5) Update the estimated status .

[0230] 4-6) Judgment:

[0231] If the modulus of the state correction Less than the set threshold ( If the value is typically set to 1e-6, the algorithm is considered to have converged, and the precise orbit determination result is output. That is, position vector and velocity vector Proceed to steps 4-7); otherwise, As a new Then return to step 4-2) and continue to the next iteration.

[0232] 4-7) Based on the results of step 4-6), update and maintain the cataloging library.

[0233] The method described in this embodiment also includes generating a precise orbit determination result evaluation report. The evaluation report includes outlier rate, batch mixing rate, systematic difference, random difference, and covariance matrix of the measurement data used for precise orbit determination. If the evaluation results meet preset standards, the cataloging library is updated and maintained using the precise orbit determination results.

[0234] Furthermore, the method described in this embodiment will be further described in detail below with reference to a specific example.

[0235] In a specific embodiment of the present invention:

[0236] In this invention example, the simulation time interval is set from 00:00:00 UTC on July 20, 2025 to 00:00:00 UTC on July 23, 2025. The number of satellites is 2700, with 1890 in low Earth orbit and 810 in high Earth orbit. The orbital elements are given by random numbers. 50 stations are set up, including 35 ground-based radar stations, 10 ground-based optical stations, and 5 space-based optical satellites.

[0237] After simulation, a set of ground-based optical station data was selected for initial orbit determination. The initial orbit determination results are as follows: The initial orbital epoch is 2025-07-20 00:16:26 UTC.

[0238] After multiple short-arc matching operations, precise orbit determination was performed, and the result of the precise orbit determination was: The precise orbital epoch is 2025-07-20 00:16:26 UTC.

[0239] Finally, the catalog is updated based on the results of precise orbit determination.

[0240] To implement the above embodiments, a second aspect of the present invention proposes a space target cataloging database maintenance device that integrates post-hoc multi-source observation data, comprising:

[0241] The observation data preprocessing module is used to acquire and preprocess the post-observation data of the observed space targets.

[0242] The initial orbit determination module is used to calculate the observation arc segment using the preprocessed observation data, and use the obtained initial orbit determination result as the orbit feature of the observation arc segment corresponding to the observation data.

[0243] The arc segment association module is used to match the observed arc segment with the orbital data of the target in the catalog based on the orbital characteristics of the observed arc segment, and to use the successfully matched observed arc segment as the associated arc segment of the target;

[0244] The precise orbit determination module is used to fuse multiple associated arc segments of the target for precise orbit determination, and to update and maintain the cataloging library using the results of the precise orbit determination.

[0245] It should be noted that the foregoing explanation of an embodiment of a method for maintaining a space target catalog database by fusing post-hoc multi-source observation data also applies to a space target catalog database maintenance device that fusing post-hoc multi-source observation data in this embodiment, and will not be repeated here. According to an embodiment of the present invention, a space target catalog database maintenance device that fusing post-hoc multi-source observation data acquires post-hoc observation data of the observed space target and preprocesses it; uses the preprocessed observation data to calculate the observation arc segment, and uses the obtained initial orbit determination result as the orbit feature of the observation arc segment corresponding to the observation data; based on the orbit feature of the observation arc segment, matches the observation arc segment with the orbit data of the target in the catalog database, and uses the successfully matched observation arc segment as the associated arc segment of the target; fuses multiple associated arc segments of the target for precise orbit determination, and uses the result of the precise orbit determination to update and maintain the catalog database. This enables rapid data processing and the construction of the correlation between the original observation data and the targets in the catalog based on the provided post-hoc multi-source observation data and historical catalog database. It also allows for the integration of post-hoc multi-source observation data to update the catalog database, thereby enabling the maintenance of the space target catalog database.

[0246] To implement the above embodiments, a third aspect of the present invention provides an electronic device, comprising:

[0247] At least one processor; and a memory communicatively connected to said at least one processor;

[0248] The memory stores instructions executable by the at least one processor, which are configured to perform the above-described method for maintaining a spatial target catalog library by fusing post-hoc multi-source observation data.

[0249] To implement the above embodiments, a fourth aspect of the present invention provides a computer-readable storage medium storing computer instructions for causing the computer to execute the above-described method for maintaining a spatial target cataloging library by fusing post-hoc multi-source observation data.

[0250] It should be noted that the computer-readable medium described in this disclosure can be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this disclosure, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in connection with an instruction execution system, apparatus, or device. In this disclosure, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium can be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wires, optical fibers, RF (radio frequency), etc., or any suitable combination thereof.

[0251] The aforementioned computer-readable medium may be included in the aforementioned electronic device; or it may exist independently and not assembled into the electronic device. The aforementioned computer-readable medium carries one or more programs, which, when executed by the electronic device, cause the electronic device to perform a spatial target cataloging library maintenance method that integrates post-hoc multi-source observation data according to the above embodiments.

[0252] Computer program code for performing the operations of this disclosure can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0253] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0254] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0255] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the function involved, as will be understood by those skilled in the art to which embodiments of this application pertain.

[0256] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Furthermore, computer-readable media can even be paper or other suitable media on which programs can be printed, because programs can be obtained electronically, for example, by optically scanning the paper or other media, followed by editing, interpreting, or otherwise processing as necessary, and then stored in computer memory.

[0257] It should be understood that various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0258] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0259] Furthermore, the functional units in the various embodiments of this application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0260] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this application.

Claims

1. A method for maintaining a spatial target cataloging database that integrates post-hoc multi-source observation data, characterized in that, include: Acquire and preprocess post-hoc observation data of the observed space targets; The observation arc segment is calculated using the preprocessed observation data, and the initial orbit determination result is used as the orbit feature of the observation arc segment corresponding to the observation data. Based on the orbital characteristics of the observed arc segment, the observed arc segment is matched with the orbital data of the target in the catalog library, and the successfully matched observed arc segment is taken as the associated arc segment of the target; The target is precisely orbited by integrating multiple associated arc segments, and the cataloging library is updated and maintained using the results of the precise orbit determination. The post-observation data of the observed space target includes: angle measurement data, distance measurement data, and velocity measurement data; The angle measurement data includes: azimuth angle. and pitch angle Right Ascension and declination ; The ranging data is the relative distance between the observed space target and the measuring equipment. ; The speed measurement data is the rate of change of relative distance over time. ; Let the observation time be t, and the observation data from the ground-based optical station at time t be... The observation data from the ground-based radar station is The observation data from the space-based optical station are ; The preprocessing includes: 1) Calculate the error between the observed data and the predicted data, i.e., the OC error; For angle measurement data from ground-based optical stations, in The pointing vector predicted at time step is denoted as : in, This represents the coordinate transformation matrix from the Earth-Fixed system to the ENU coordinate system; express The coordinate transformation matrix from the Earth-Fixed System to the J2000 System at any time; for The position vector of the spatial target at any given moment; For ground-based optical stations The position vector in the J2000 system at any given moment; The OC error of the pointing vector of the ground-based optical station Calculated using the following formula: in, Represents a pointing vector with a modulus of 1; for ground-based optical stations, The following formula is used to calculate: This represents the angle between the actual pointing vector and the predicted pointing vector. The range of values ​​is ; For the angle measurement data of space-based optical stations, in The pointing vector predicted at time step is denoted as : in, for The position vector of the space-based satellite in the J2000 system at any given time; OC error of the pointing vector of space-based optical stations Calculated using the following formula: in, Based on right ascension and declination The obtained pointing vector, The following formula is used to calculate: For the ranging data of ground-based radar stations, in The distance measurement data for time prediction is denoted as : OC error of ground-based radar ranging data Calculated using the following formula: Regarding the velocity data from ground-based radar stations, The predicted speed data is denoted as : in, The velocity vector of the observation equipment in the J2000 system; and These are the position vector and velocity vector of the observed space target in the J2000 system, respectively; OC error of velocity data from ground-based radar stations Calculated using the following formula: 2) Based on the results of step 1), the original observation data is filtered to obtain preprocessed observation data; Among them, for the observation data of the ground-based optical station or the space-based optical station at time t, the maximum allowable pointing angle deviation is preset. ,according to Calculate the angle measurement OC error threshold For the angle measurement data in the i-th set of observations, calculate its OC error. If satisfied If the i-th group of observations is not an outlier, then the i-th group of observations is not an outlier; otherwise, the i-th group of observations is discarded. For the observation data from the ground-based radar station at time t, its OC error threshold includes: ;in, The OC error threshold for ranging The velocity measurement OC error threshold is used; for the i-th group of ground-based radar station observation data, the corresponding values ​​are calculated respectively. , Let be the OC error of the ranging data corresponding to the observation data of the i-th group of ground-based radar stations. Let be the OC error of the velocity data corresponding to the observation data of the i-th group of ground-based radar stations; if simultaneously: If the observation data of the i-th group of ground-based radar stations is not an outlier, then the observation data of the i-th group of ground-based radar stations will be discarded. The process of calculating the observed arc segment using the preprocessed observation data includes: Using the preprocessed observation data from the ground-based optical station, the equations for the observation arc segment of the ground-based optical station are solved as follows: in, They are respectively Components along the x-axis, y-axis, and z-axis in the J2000 series; They are respectively Components along the x-axis, y-axis, and z-axis in the J2000 series; They are respectively Components along the x-axis, y-axis, and z-axis in the J2000 series; The Lagrange coefficients are the result of a power series expansion of the orbital equations; Using the preprocessed observation data from the ground-based radar station, the equation for the observation arc segment of the ground-based radar station is solved as follows: Using the processed observation data from the space-based optical station, the equation for the observation arc segment of the space-based optical station is solved as follows: in, They are respectively Components along the x-axis, y-axis, and z-axis in the J2000 series; Using the preprocessed observation data, the least squares solution is obtained by solving the corresponding equations iteratively. , , , This process continues until the preset orbit accuracy requirements are met, thus obtaining the initial orbit determination result. That is, the initial moment Target position vector and velocity vector .

2. The method according to claim 1, characterized in that, The step of matching the observed arc segment with the orbital data of the target in the catalog database includes: For the i-th target in the catalog, the target's trajectory is recursively calculated based on the target's historical trajectory information in the catalog. At that moment, we received The position vector of the i-th target at time i and velocity vector , denoted as a set of orbital states ;Will and The position error is calculated by comparing the results using the following formula. and speed error : Set position error threshold and speed error threshold If both conditions are met and Then determine The corresponding observation arc segment is associated with the target; otherwise, the observation arc segment is not associated with the target.

3. The method according to claim 1, characterized in that, The step of matching the observed arc segment with the orbital data of the target in the catalog database includes: For a set of ground-based radar observation data at time t First, the observation data is converted into a position vector in the J2000 system using the following formula: in, Let S be the position vector of the ground-based optical station S in the Earth-solid system; Then, the historical orbital data of the target in the catalog is recursively pushed to... The position vector is obtained at each moment. and velocity vector Then the position error vector between the observed data and the target ; UNW system triaxial unit direction vector passes through and The calculation is performed as follows: The position error in the UNW coordinate system Calculated using the following formula: Set position error thresholds in three directions respectively. ; For an observation arc segment, if the observed data exceeding a certain proportion satisfy... If the observation arc segment is associated with the target, then the observation arc segment is determined to be associated with the target; otherwise, the observation arc segment is not associated with the target.

4. The method according to claim 1, characterized in that, The precise orbit determination by fusing multiple associated arc segments of the target includes: 1) Establish the observation model, state equations, variational equations of motion, and state transition matrix differential equations; the specific steps are as follows: 1-1) Establish the observation model: in, for Observations of time, Represents system state variables; They are respectively Components along the x-axis, y-axis, and z-axis in the ENU system; Establish system observations Regarding system status Jacobian matrix: The partial derivative expression in the formula is as follows: 1-2) Establish the state equations; The state equation expression for the space target is as follows: in, The acceleration of a spatial target is represented by time t and position vector. and velocity vector Sure; These represent the gravitational acceleration due to two bodies, the gravitational perturbation acceleration due to the Earth's non-spherical shape, the gravitational perturbation acceleration due to atmospheric drag, the gravitational perturbation acceleration due to solar radiation pressure, the gravitational perturbation acceleration due to the third body (the Sun), and the gravitational perturbation acceleration due to the third body (the Moon). 1-3) Establish the variational equation of motion: in, and They represent and The variation, Let these represent the zero matrix and the identity matrix, which are 3×3 in size, respectively. 1-4) Establish the differential equation of the state transition matrix: in, Indicates from Moment State Transferred to Moment State The state transition matrix; 2) Let the total number of observation data samples be m; For the j-th observation sample, the observation time is denoted as . The actual observed measurements are recorded as The standard deviation of the observations is denoted as , These are the j-th group of observation data. Standard deviation; Solve the simultaneous state equations and state transition matrix differential equations, given the initial state values. and initial values ​​of the state transition matrix Obtained through numerical integration System state at time 1 and state transition matrix , forming a system state set and set of state transition matrices , ; 3) Use and The set of predicted measurements is calculated based on the observation model. and observation matrix set ; 4) Calculate the residual set The normal equation is derived using the least squares method, and its expression is as follows: in, Let J be the weighting matrix of the j-th group of observations; Solving the normal equations yields the optimal state correction in the least squares sense. ; 5) Update the estimated state ; 6) Judgment: If the modulus of the state correction Less than the set threshold If the algorithm converges, it will output the precise orbit determination result. That is, position vector and velocity vector Otherwise, As a new Then return to step 2) and continue to the next iteration.

5. A space target cataloging database maintenance device that integrates post-hoc multi-source observation data, characterized in that, include: The observation data preprocessing module is used to acquire and preprocess the post-observation data of the observed space targets. The initial orbit determination module is used to calculate the observation arc segment using the preprocessed observation data, and use the obtained initial orbit determination result as the orbit feature of the observation arc segment corresponding to the observation data. The arc segment association module is used to match the observed arc segment with the orbital data of the target in the catalog based on the orbital characteristics of the observed arc segment, and to use the successfully matched observed arc segment as the associated arc segment of the target; The precise orbit determination module is used to fuse multiple associated arc segments of the target for precise orbit determination, and to update and maintain the cataloging library using the results of the precise orbit determination. The post-observation data of the observed space target includes: angle measurement data, distance measurement data, and velocity measurement data; The angle measurement data includes: azimuth angle. and pitch angle Right Ascension and declination ; The ranging data is the relative distance between the observed space target and the measuring equipment. ; The speed measurement data is the rate of change of relative distance over time. ; Let the observation time be t, and the observation data from the ground-based optical station at time t be... The observation data from the ground-based radar station is The observation data from the space-based optical station are ; The preprocessing includes: 1) Calculate the error between the observed data and the predicted data, i.e., the OC error; For angle measurement data from ground-based optical stations, in The pointing vector predicted at time step is denoted as : in, This represents the coordinate transformation matrix from the Earth-Fixed system to the ENU coordinate system; express The coordinate transformation matrix from the Earth-Fixed System to the J2000 System at any time; for The position vector of the spatial target at any given moment; For ground-based optical stations The position vector in the J2000 system at any given moment; The OC error of the pointing vector of the ground-based optical station Calculated using the following formula: in, Represents a pointing vector with a modulus of 1; for ground-based optical stations, The following formula is used to calculate: This represents the angle between the actual pointing vector and the predicted pointing vector. The range of values ​​is ; For the angle measurement data of space-based optical stations, in The pointing vector predicted at time step is denoted as : in, for The position vector of the space-based satellite in the J2000 system at any given time; OC error of the pointing vector of space-based optical stations Calculated using the following formula: in, Based on right ascension and declination The obtained pointing vector, The following formula is used to calculate: For the ranging data of ground-based radar stations, in The distance measurement data for time prediction is denoted as : OC error of ground-based radar ranging data Calculated using the following formula: Regarding the velocity data from ground-based radar stations, The predicted speed data is denoted as : in, The velocity vector of the observation equipment in the J2000 system; and These are the position vector and velocity vector of the observed space target in the J2000 system, respectively; OC error of velocity data from ground-based radar stations Calculated using the following formula: 2) Based on the results of step 1), the original observation data is filtered to obtain preprocessed observation data; Among them, for the observation data of the ground-based optical station or the space-based optical station at time t, the maximum allowable pointing angle deviation is preset. ,according to Calculate the angle measurement OC error threshold For the angle measurement data in the i-th set of observations, calculate its OC error. If satisfied If the i-th group of observations is not an outlier, then the i-th group of observations is not an outlier; otherwise, the i-th group of observations is discarded. For the observation data from the ground-based radar station at time t, its OC error threshold includes: ;in, The OC error threshold for ranging The velocity measurement OC error threshold is used; for the i-th group of ground-based radar station observation data, the corresponding values ​​are calculated respectively. , Let be the OC error of the ranging data corresponding to the observation data of the i-th group of ground-based radar stations. Let be the OC error of the velocity data corresponding to the observation data of the i-th group of ground-based radar stations; if simultaneously: If the observation data of the i-th group of ground-based radar stations is not an outlier, then the observation data of the i-th group of ground-based radar stations will be discarded. The process of calculating the observed arc segment using the preprocessed observation data includes: Using the preprocessed observation data from the ground-based optical station, the equations for the observation arc segment of the ground-based optical station are solved as follows: in, They are respectively Components along the x-axis, y-axis, and z-axis in the J2000 series; They are respectively Components along the x-axis, y-axis, and z-axis in the J2000 series; They are respectively Components along the x-axis, y-axis, and z-axis in the J2000 series; The Lagrange coefficients are the result of a power series expansion of the orbital equations; Using the preprocessed observation data from the ground-based radar station, the equation for the observation arc segment of the ground-based radar station is solved as follows: Using the processed observation data from the space-based optical station, the equation for the observation arc segment of the space-based optical station is solved as follows: in, They are respectively Components along the x-axis, y-axis, and z-axis in the J2000 series; Using the preprocessed observation data, the least squares solution is obtained by solving the corresponding equations iteratively. , , , This process continues until the preset orbit accuracy requirements are met, thus obtaining the initial orbit determination result. That is, the initial moment Target position vector and velocity vector .

6. An electronic device, characterized in that, include: At least one processor; And, a memory communicatively connected to the at least one processor; The memory stores instructions executable by the at least one processor, the instructions being configured to perform the method described in any one of claims 1-4.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing the computer to perform the method according to any one of claims 1-4.

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