A space target tracking method and device, electronic equipment and readable storage medium

Abstract

The application discloses a space target tracking method and device, electronic equipment and a readable storage medium. The method comprises the following steps: acquiring a TLE file before a tracking time, wherein the TLE file comprises TLE orbit reports of a plurality of space targets; inputting the TLE orbit report of each space target into an SGP4 model, and obtaining a running track of each space target according to a prediction result of the SGP4 model; determining a best tracking target with the best tracking condition according to the running track of each space target, and acquiring tracking prediction data of the best tracking target within the tracking time; and controlling an antenna beam of a tracking antenna to point to the best tracking target according to the tracking prediction data within the tracking time, and collecting a radiation signal of the best tracking target. The application can accurately track the space target and collect a radiation signal with sufficient length and continuity for subsequent research.

Description

Technical Field

[0001] This application relates to the field of space target orbit technology, and in particular to a space target tracking method, device, electronic device, and readable storage medium. Background Technology

[0002] Space technology development is receiving increasing attention, and the number of space targets is growing exponentially. Related research data indicates that as of 2021, there were over 4,000 space targets in orbit, of which over 3,000 were in low Earth orbit (altitude ≤ 2000 km). This vast number of space targets presents a significant challenge to space target tracking.

[0003] Especially for non-cooperative space targets, since the tracking antenna cannot determine the attitude of the space target in advance, and the space target in low orbit moves at a relatively high speed, the relative speed may be in the range of 6.9 km / s to 7.6 km / s. With the tracking capability of existing tracking antennas, it is difficult to accurately track high-speed moving space targets, and the collected signals may only include a very small part of the radiation signal of the space target. The small amount of radiation signal collected cannot be used for subsequent research. Summary of the Invention

[0004] This application provides a space target tracking method, apparatus, electronic device, and readable storage medium to accurately track space targets and collect radiation signals of sufficient length.

[0005] The embodiments of this application adopt the following technical solutions:

[0006] In a first aspect, embodiments of this application provide a spatial target tracking method, including:

[0007] A two-line orbital parameter TLE file is obtained before the tracking time, the TLE file including TLE orbital reports for multiple space targets;

[0008] The TLE orbital report of each space target is input into the simplified conventional perturbation SGP4 model, and the trajectory of each space target is obtained based on the prediction results of the SGP4 model.

[0009] Based on the trajectory of each space target, the best tracking target with the best tracking conditions is determined, and the tracking prediction data of the best tracking target during the tracking time is obtained;

[0010] During the tracking time, the antenna beam of the tracking antenna is controlled to point towards the optimal tracking target based on the tracking prediction data, and the radiated signal of the optimal tracking target is collected.

[0011] Secondly, embodiments of this application provide a space target tracking device, comprising:

[0012] The TLE file acquisition unit is used to acquire a two-line orbital parameter TLE file before the tracking time. The TLE file includes TLE orbit reports for multiple space targets.

[0013] The trajectory acquisition unit is used to input the TLE trajectory report of each space target into the simplified conventional perturbation SGP4 model, and obtain the trajectory of each space target based on the prediction results of the SGP4 model.

[0014] The tracking target determination unit is used to determine the best tracking target with the best tracking conditions based on the running trajectory of each space target, and to obtain the tracking prediction data of the best tracking target within the tracking time.

[0015] A tracking control unit is used to control the antenna beam of the tracking antenna to point towards the optimal tracking target based on the tracking prediction data during the tracking time, and to collect the radiation signal of the optimal tracking target.

[0016] Thirdly, embodiments of this application provide an electronic device, including a processor; and a memory arranged to store computer-executable instructions, which, when executed, cause the processor to perform the methods of the above embodiments.

[0017] Fourthly, embodiments of this application provide a computer-readable storage medium that stores one or more programs, which, when executed by a processor, implement the methods of the above embodiments.

[0018] The above-mentioned technical solutions adopted in this application embodiment can achieve the following beneficial effects: In this application embodiment, TLE files containing TLE orbit reports of multiple space targets are obtained before the tracking time. By inputting the TLE orbit report of each space target into the SGP4 model, the prediction results of the SGP4 model for each space target are obtained. Based on the prediction results, the trajectory of each space target can be predicted. Then, based on the trajectory of each space target, the best tracking target with the best tracking conditions can be determined from multiple space targets. After determining the best tracking target, the tracking prediction data of the best tracking target is obtained. In this way, during the tracking time, the tracking antenna can control the antenna beam to point to the best tracking target according to the tracking prediction data, so as to achieve accurate tracking of the space target and collect a sufficient length of continuous radiation signal during the tracking process for subsequent research. Attached Figure Description

[0019] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0020] Figure 1 This is a flowchart illustrating a spatial target tracking method according to an embodiment of this application;

[0021] Figure 2 This is a schematic diagram illustrating the distribution of multiple observable spatial targets in an embodiment of this application;

[0022] Figure 3 This is a schematic diagram of the flight direction of an optimal target to be tracked, as shown in an embodiment of this application.

[0023] Figure 4 This is a schematic diagram of a tracking process in an embodiment of this application;

[0024] Figure 5 This is a schematic diagram of a process for tracking space targets in an embodiment of this application;

[0025] Figure 6 This is a schematic diagram illustrating the use of a tracking system to track a space target in an embodiment of this application;

[0026] Figure 7 This is a schematic diagram of the waveform of the radiation signal collected by the signal collector in the embodiment of this application;

[0027] Figure 8 This is a schematic diagram of the structure of a space target tracking device according to an embodiment of this application;

[0028] Figure 9 This is a schematic diagram of the structure of an electronic device according to an embodiment of this application. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0030] The technical solutions provided by the various embodiments of this application are described in detail below with reference to the accompanying drawings.

[0031] This application provides a spatial target tracking method, such as... Figure 1The diagram shows a flowchart of a space target tracking method according to an embodiment of this application. The method includes at least the following steps S110 to S140:

[0032] Step S110: Before tracking time, obtain the TLE (Two Line Orbital Element) file, which includes TLE orbital reports for multiple space targets.

[0033] When a ground-based tracking antenna collects radiation signals from a space target, it needs to calculate the azimuth and elevation angles of the space target in real time based on the target's spatial location. The tracking antenna continuously adjusts the angle of its beam to track the space target in order to collect its radiation signals.

[0034] For non-cooperative space targets in low orbit, the tracking antenna cannot know the real-time spatial position of each space target, and therefore cannot adjust the angle of the antenna beam to align with the space target. As a result, the tracking antenna cannot accurately track these high-speed moving space targets, nor can it collect radiation signals of sufficient length.

[0035] This application addresses the problem that non-cooperative space targets in low Earth orbit cannot be accurately and automatically tracked using existing tracking antennas. Before the tracking time, it obtains TLE orbit reports of multiple space targets from a publicly available online platform. Based on the prediction results of the SGP4 (Simplified General Perturbations) model, it can predict the trajectory of each space target during the tracking time. Based on the trajectory, it determines the optimal tracking target with the best tracking conditions. Then, based on the SGP4 model, it predicts the tracking data of the optimal tracking target during the tracking time, so that the tracking antenna can automatically track and collect radiation signals from the optimal tracking target based on the tracking prediction data.

[0036] The TLE orbit report was designed and proposed by the North American Aerospace Defense Command (NORAD), a joint US-Canadian organization, to accurately observe and predict the spatial positions of space targets in orbit. The monitoring platform automatically generates TLE orbit reports for all cataloged space targets and uploads them to a publicly available online platform for download.

[0037] Step S120: Input the TLE orbit report of each space target into the SGP4 model, and obtain the orbital trajectory of each space target based on the prediction results of the SGP4 model.

[0038] For TLE (Time-Low) orbital reports, NORAD developed the SGP4 model, which can be applied to low-Earth orbit space targets with orbital periods of less than 225 minutes. By inputting the TLE orbital report of each space target into the SGP4 model, the predicted position and velocity of each space target within the tracking time can be calculated. Based on the predicted position and velocity, the trajectory of each space target within the tracking time can be obtained. The trajectory estimation method can refer to existing technologies.

[0039] Step S130: Determine the best tracking target with the best tracking conditions based on the trajectory of each space target, and obtain the tracking prediction data of the best tracking target within the tracking time.

[0040] As mentioned earlier, there are currently more than 3,000 space targets in low Earth orbit, and how to select one of them for automatic tracking is a challenge.

[0041] To address this problem, this application selects space targets with optimal tracking conditions by assessing the quality of tracking conditions for each space target. The optimal tracking condition refers to a space target that the tracking antenna can continuously observe and track during the tracking time. Research has shown that the tracking antenna can effectively track a space target when it passes directly above it. Therefore, this embodiment automatically tracks the target by selecting the best tracking target with the highest tracking conditions from among numerous space targets based on the target's trajectory.

[0042] The tracking prediction data in this application includes angular information that controls the direction of the antenna beam, such as the azimuth and elevation angles of the optimal tracking target to the tracking antenna at each tracking moment.

[0043] Step S140: During the tracking time, the antenna beam of the tracking antenna is controlled to point towards the optimal tracking target according to the tracking prediction data, and the radiation signal of the optimal tracking target is collected.

[0044] When the local time of the tracking antenna reaches the tracking start time, the tracking antenna can acquire the first attitude prediction data obtained in the aforementioned steps, control the antenna beam of the tracking antenna to point to the optimal tracking target based on the first attitude prediction data, and collect the radiation signal of the optimal tracking target.

[0045] based on Figure 1As shown in the space target tracking method, this embodiment obtains TLE files containing TLE orbit reports of multiple space targets before the tracking time. By inputting the TLE orbit report of each space target into the SGP4 model, the prediction results of the SGP4 model for each space target are obtained. Based on the prediction results, the trajectory of each space target can be predicted. Then, based on the trajectory of each space target, the best tracking target with the best tracking conditions can be determined from multiple space targets. After determining the best tracking target, the tracking prediction data of the best tracking target is obtained. In this way, during the tracking time, the tracking antenna can control the antenna beam to point to the best tracking target according to the tracking prediction data, so as to achieve accurate tracking of the space target and collect a sufficient length of continuous radiation signal for subsequent research.

[0046] This embodiment can automatically track the best tracking target with the best tracking conditions from a large number of space targets, and accurately obtain the tracking prediction data of the best tracking target within the tracking time. This provides a basis for the tracking antenna to control its antenna beam, ensuring that the tracking antenna can accurately track the best tracking target, and can also collect a sufficient length of continuous radiation signal for subsequent research.

[0047] As mentioned earlier, the prediction accuracy of azimuth and elevation angles in the tracking prediction data is particularly important for the automatic tracking of the optimal target. Low accuracy will cause the tracking antenna to lose track of the optimal target. Therefore, in this embodiment, when acquiring the TLE file before the tracking time, the orbit prediction time of the space target is obtained from the TLE orbit report. Based on the orbit prediction time and the tracking time, a TLE file that meets the time constraint conditions is acquired from a publicly available network platform. Optionally, when the time interval between the orbit prediction time and the tracking start time is less than a preset value, the TLE orbit report is determined to meet the time constraint conditions. When all TLE orbit reports in the TLE file meet the time constraint conditions, the TLE file is determined to meet the time constraint conditions. This ensures that the orbit parameters in the acquired TLE orbit reports are as close as possible to the tracking start time, improving the prediction accuracy of the tracking prediction data.

[0048] The following is an example of a specific TLE track report:

[0049] 1 37933U 11069A 13021.76343888-.00000335 00000-0 10000-3 0 3064 2 37933 0.0563 256.4000 0001251 25.4253 219.8660 1.00274233 4398

[0051] According to the description of the TLE orbital report specified by NORAD, characters 3-7 in the first line represent the space target's number. Each space target is assigned a unique number by NORAD, which uniquely identifies each space target. Characters 19-20 in the first line represent the last two parts of the TLE epoch year of the orbital prediction; in the example above, it is 2013. Characters 21-32 in the first line represent the Julian Day of the TLE epoch year of the orbital prediction. The integer part is the day of the year, and the decimal part is the specific time of that day; in the example above, it is January 21, 2013, 18:19:21. The second line describes the main parameters used in the SGP4 (Simplified General Perturbations) model.

[0052] Therefore, when obtaining TLE files from publicly available online platforms, the time information of the space target and orbit prediction corresponding to each TLE orbit report can be obtained based on the first line description of each TLE orbit report, and TLE files that meet the above time constraints can be selected based on the time information.

[0053] During trajectory prediction, the first line of the TLE trajectory report for each space target provides the orbital parameters required by the SGP4 model. These parameters are then input into the SGP4 model, which outputs the predicted spatial position and velocity at the observation times within the tracking time. It's important to note that to improve computational efficiency, the time interval between observations should be appropriately set during trajectory prediction. For example, with a tracking time of 15 seconds, the SGP4 model can predict the position and velocity of the space target every 3 seconds. However, when generating tracking prediction data, the SGP4 model should predict the optimal target position every 1 second. In other words, the time interval between observations during the tracking time should be longer than the tracking time itself.

[0054] In one embodiment of this application, determining the optimal tracking target with the best tracking conditions based on the trajectory of each space target includes:

[0055] Obtain the spatial position of the tracking antenna; determine the deviation of the trajectory of each spatial target from the tracking antenna based on the spatial position of the tracking antenna; determine the optimal tracking target based on the deviation of the trajectory of each spatial target from the tracking antenna.

[0056] The deviation of each spatial target's trajectory from the tracking antenna can be understood as the distance between the target trajectory point and the normal of the tracking antenna. The greater the deviation, the further the spatial target's trajectory deviates from the tracking direction of the antenna; the smaller the deviation, the closer the spatial target's trajectory is to the tracking direction of the antenna. The target trajectory point is the trajectory point corresponding to the spatial position of the tracking antenna.

[0057] Considering that in practical applications, the LTE files downloaded from publicly available network platforms contain numerous LTE orbit reports corresponding to various space targets, in order to reduce computational complexity and improve computational efficiency, this application can first select observable space targets that can be observed by the tracking antenna from among the numerous space targets, and then select the best tracking target from among the observable space targets.

[0058] Specifically, before determining the best tracking target with the best tracking conditions based on the trajectory of each space target, the relative distance between each space target and the tracking antenna is obtained, and one or more observable space targets whose relative distance is less than the observable distance threshold are determined from the plurality of space targets based on the relative distance.

[0059] This embodiment pre-obtains the spatial position of the tracking antenna, and calculates the tracking time [T0, T1] based on the TLE orbital report and SGP4 model for each spatial target. n The spatial predicted location within the tracking time [T0, T] is given. n The spatial predicted location within the range is, for example, at the intermediate tracking time (T0+T). n The spatial predicted location is 2 / 2. In this embodiment, the spatial location is represented by a three-dimensional spatial representation described by longitude, latitude and altitude.

[0060] After obtaining the spatial position of the tracking antenna and the predicted spatial position of each spatial target, the distance between them can be used. In some optional embodiments, the relative Euclidean distance between them is calculated. When the relative Euclidean distance is less than the observable distance threshold D, the spatial target is considered to be observable by the tracking antenna; when the relative Euclidean distance is not less than the observable distance threshold D, the spatial target is considered to be unobservable by the tracking antenna. Figure 2 As shown, the relative Euclidean distances between space targets S1, S2, and S3 and the tracking antenna are greater than the observable distance threshold D, while the relative Euclidean distances between space targets S4, S5, and S6 and the tracking antenna are less than the observable distance threshold D. In this case, space targets S4, S5, and S6 are observable space targets.

[0061] In this way, the target can be optimally tracked from one or more observable space targets, thus improving the computational efficiency of optimal target tracking.

[0062] In one embodiment of this application, determining the optimal tracking target based on the deviation of the trajectory of each space target from the tracking antenna includes:

[0063] The deviation of each spatial target is compared with a preset deviation value, which can be set according to the tracking direction of the tracking antenna.

[0064] If the deviation of a spatial target is less than the preset deviation value, the spatial target is determined to be the best tracking target;

[0065] If the deviation of multiple spatial targets is less than the preset deviation value, the optimal tracking target is determined based on the difference between the deviations of these multiple spatial targets.

[0066] In practical applications, when the deviation of M (M>2, M is a positive integer) spatial targets is less than the preset deviation value, the deviation of these M spatial targets from the tracking antenna may be relatively close. In this case, it may not be possible to accurately determine the best tracking target from these M spatial targets based solely on the deviation.

[0067] Based on this, when the deviation of M spatial targets is less than the preset deviation value, this embodiment also obtains the difference between the deviations of the M spatial targets. If the difference between the deviations of the M spatial targets is greater than the predicted difference value, it indicates that the running trajectories of the M spatial targets can be significantly distinguished based on the deviation. At this time, the spatial target with the smallest deviation can be determined as the best tracking target.

[0068] If the difference between the deviations of the M space targets is no greater than the predicted difference value, it indicates that the trajectories of these M space targets cannot be significantly distinguished based on the deviation. In this case, this embodiment obtains the M space targets at the intermediate tracking time (T0+T). n The relative distance between the M spatial targets and the tracking antenna is 2 / 2; or, the distance between the M spatial targets and the tracking antenna is obtained at the intermediate tracking time (T0+T). n The elevation angle of the tracking antenna is 2 / 2; the spatial target with the smallest relative distance to the tracking antenna is determined as the optimal tracking target, or the spatial target with the largest elevation angle to the tracking antenna is determined as the optimal tracking target.

[0069] Based on the above embodiments, it is possible to select the best tracking target with the best tracking conditions from multiple observable spatial targets, such as... Figure 3 As shown, among the observable space targets S4, S5 and S6, the flight directions of observable space targets S4 and S5 do not point towards the tracking antenna, while the flight direction of observable space target S6 points towards the tracking antenna. Therefore, observable space target S6 is identified as the most likely space target for automatic tracking.

[0070] After determining the optimal tracking target, the SGP4 model is used to calculate the tracking time [T0, T1]. n The spatial predicted position of the target at each tracking moment is calculated. Based on the spatial predicted position and the spatial position of the tracking antenna, the azimuth and elevation angles of the target at each tracking moment to the tracking antenna are calculated. The calculated azimuth and elevation angles are then compiled into the tracking prediction data shown in the table below:

[0071] Table 1: Tracking and Forecasting Data

[0072] Tracking Time (UTCG) Azimuth (deg) Pitch angle (deg) 3 Nov 2021 07:45:00.000 231.585 41.187 3 Nov 2021 07:45:01.000 231.702 41.564 3 Nov 2021 07:45:02.000 231.822 41.946 3 Nov 2021 07:45:03.000 231.945 42.332 3 Nov 2021 07:45:04.000 232..071 42.722 3 Nov 2021 07:45:05.000 232.200 43.117 3 Nov 2021 07:45:06.000 232.332 43.516 3 Nov 2021 07:45:07.000 232.468 43.920 3 Nov 2021 07:45:08.000 232.607 44.328 3 Nov 2021 07:45:09.000 232.750 44.741 3 Nov 2021 07:45:10.000 232.897 45.158 3 Nov 2021 07:45:11.000 233.048 45.580 3 Nov 2021 07:45:12.000 233.203 46.007 3 Nov 2021 07:45:13.000 233.363 46.439 3 Nov 2021 07:45:14.000 233.527 46.875

[0073] Referring to the table above, the SGP4 model calculates the azimuth and elevation angles of the optimal tracking target to the tracking antenna every second from 07:45:00 to 07:45:14 on November 3, 2021, according to Coordinated Universal Time (UTCG, i.e., Coordinated Universal Time displayed in Gregorian time format). This tracking data file contains three columns: the first column is for each tracking time, and the second and third columns are the azimuth and elevation angles of the optimal tracking target to the tracking antenna. The units for azimuth and elevation angles are degrees (deg).

[0074] The tracking antenna in this embodiment mainly consists of an antenna surface, a feed source, an RF network, a waveguide, an XY turntable, an antenna control unit, and a tripod. The tracking method is a program-based tracking method, such as... Figure 4 As shown, the antenna control unit calculates antenna control parameters based on tracking prediction data, GPS real-time calibration time, spatial position of the tracking antenna, and current direction and attitude of the antenna surface. This controls the XY turntable to rotate the antenna surface, enabling the antenna beam to be aligned with and track the optimal tracking target in real time, and to acquire radio frequency signals.

[0075] To facilitate understanding of the space target tracking method in this application, combined with Figure 5 The aforementioned tracking system and Figure 6 The tracking process is described below. The calculator in this application first downloads the TLE file from a publicly available online platform. Using the TLE orbital information in the TLE file, it calculates the predicted spatial position and predicted velocity of each space target based on the SGP4 model. Based on the predicted spatial position of each space target and the spatial position of the tracking antenna, it calculates the relative Euclidean distance between each space target and the tracking antenna. Space targets with a relative Euclidean distance less than the observable distance threshold D are identified as observable space targets. The flight direction of the observable space targets is calculated, and it is determined whether the flight direction points to the tracking antenna. If it points to the tracking antenna, the optimal tracking target is determined.

[0076] In one specific embodiment, TLE files (containing 2032 space targets) of non-cooperative space targets in low Earth orbit are downloaded from a publicly available online platform. The spatial position of the tracking antenna is set as follows: latitude 33°N, longitude 120°E, altitude: 0m, and observable distance threshold D = 1200km. During the tracking time, the number of space targets that the tracking antenna can observe is 10, namely S1, S2, ... S10. From these 10 observable space targets, observable space target S3 is determined as the best tracking target.

[0077] The calculator also uses the SGP4 model to predict the optimal tracking target S3 for the tracking time (600 seconds). The tracking antenna reads this prediction data from the calculator via a network switch and waits. When the GPS time of the tracking antenna matches the tracking start time, the antenna control unit calculates the antenna control parameters based on the azimuth and elevation angles at each tracking moment in the prediction data, and controls the turntable to rotate the antenna surface to track the target in real time. Simultaneously, the signal acquisition unit receives instructions to continuously acquire radio frequency signals, obtaining data such as... Figure 7 The radio frequency signal shown.

[0078] It should be noted that the calculator can be built into the tracking antenna, or as... Figure 6 The setup shown is independent of the tracking antenna.

[0079] The space target tracking method of the foregoing embodiments belongs to the same technical concept. This application also provides a space target tracking device for implementing the space target tracking method of the foregoing embodiments.

[0080] Figure 8 A schematic diagram of a space target tracking device according to an embodiment of this application is shown, as follows: Figure 8 As shown, the space target tracking device 1100 includes: a TLE file acquisition unit 1110, a trajectory acquisition unit 1120, a tracking target determination unit 1130, and a tracking control unit 1140;

[0081] TLE file acquisition unit 1110 is used to acquire a two-line orbit parameter TLE file before the tracking time, wherein the TLE file includes TLE orbit reports of multiple space targets;

[0082] The trajectory acquisition unit 1120 is used to input the TLE trajectory report of each space target into the simplified conventional perturbation SGP4 model, and obtain the trajectory of each space target based on the prediction results of the SGP4 model.

[0083] The tracking target determination unit 1130 is used to determine the best tracking target with the best tracking conditions based on the running trajectory of each space target, and to obtain the tracking prediction data of the best tracking target during the tracking time.

[0084] The tracking control unit 1140 is used to control the antenna beam of the tracking antenna to point to the optimal tracking target according to the tracking prediction data during the tracking time, and to collect the radiation signal of the optimal tracking target.

[0085] In one embodiment of this application, the tracking target determination unit 1130 is used to obtain the spatial position of the tracking antenna; determine the deviation of the running trajectory of each spatial target from the tracking antenna based on the spatial position of the tracking antenna; and determine the optimal tracking target based on the deviation of the running trajectory of each spatial target from the tracking antenna.

[0086] In one embodiment of this application, the tracking target determination unit 1130 is further configured to obtain a comparison result of the deviation amount of each spatial target with a preset deviation value; if the deviation amount of one spatial target is less than the preset deviation value, the spatial target is determined as the best tracking target; if the deviation amount of multiple spatial targets is less than the preset deviation value, the best tracking target is determined according to the difference between the deviation amounts of the multiple spatial targets.

[0087] In one embodiment of this application, the tracking target determination unit 1130 is specifically configured to: if the difference between the deviations of the plurality of spatial targets is greater than the predicted difference value, determine the spatial target with the smallest deviation as the optimal tracking target; if the difference between the deviations of the plurality of spatial targets is not greater than the predicted difference value, obtain the relative distance between the plurality of spatial targets and the tracking antenna at an intermediate tracking moment; or, obtain the elevation angle of the plurality of spatial targets to the tracking antenna at an intermediate tracking moment; determine the spatial target with the smallest relative distance to the tracking antenna as the optimal tracking target, or determine the spatial target with the largest elevation angle to the tracking antenna as the optimal tracking target.

[0088] In one embodiment of this application, the space target tracking device 1100 further includes: a space target screening unit, configured to acquire the relative distance between each space target and the tracking antenna during the tracking time; and to determine one or more observable space targets from the plurality of space targets whose relative distance is less than an observable distance threshold based on the relative distance.

[0089] In one embodiment of this application, the tracking target determination unit 1130 is further configured to determine the optimal tracking target from the one or more observable space targets.

[0090] In one embodiment of this application, the TLE file acquisition unit 1110 is used to obtain the orbit prediction time of a space target from the TLE orbit report; and to obtain a TLE file that meets the time constraint conditions from a publicly available network platform based on the orbit prediction time and the tracking time.

[0091] It is understood that the above-described space target tracking device can implement each step of the space target tracking method provided in the foregoing embodiments. The relevant explanations of the space target tracking method are applicable to the space target tracking device and will not be repeated here.

[0092] Figure 9 A schematic diagram of an electronic device according to one embodiment of this application is shown. Please refer to... Figure 9 At the hardware level, the electronic device includes a processor and memory, and optionally also includes an internal bus and a network interface. The memory may include main memory, such as high-speed random-access memory (RAM), or non-volatile memory, such as at least one disk drive. Of course, the electronic device may also include other hardware required for other business operations.

[0093] The processor, interface module, communication module, and memory can be interconnected via an internal bus. This internal bus can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 9 The symbol is represented by a single double-headed arrow, but this does not mean that there is only one bus or one type of bus.

[0094] Memory is used to store executable instructions for a computer. Memory provides these instructions to the processor via an internal bus.

[0095] The processor executes computer-executable instructions stored in memory and specifically performs the following operations:

[0096] A two-line orbital parameter TLE file is obtained before the tracking time, the TLE file including TLE orbital reports for multiple space targets;

[0097] The TLE orbital report of each space target is input into the simplified conventional perturbation SGP4 model, and the trajectory of each space target is obtained based on the prediction results of the SGP4 model.

[0098] Based on the trajectory of each space target, the best tracking target with the best tracking conditions is determined, and the tracking prediction data of the best tracking target during the tracking time is obtained;

[0099] During the tracking time, the antenna beam of the tracking antenna is controlled to point towards the optimal tracking target based on the tracking prediction data, and the radiated signal of the optimal tracking target is collected.

[0100] The above is as stated in this application. Figure 1 The spatial target tracking method disclosed in the illustrated embodiment can perform functions that can be applied to or implemented by a processor. The processor may be an integrated circuit chip with signal processing capabilities. In implementation, the steps of the above method can be completed through integrated logic circuits in the processor's hardware or through software instructions.

[0101] This application also proposes a computer-readable storage medium that stores one or more programs, which, when executed by a processor, perform the following operations:

[0102] A two-line orbital parameter TLE file is obtained before the tracking time, the TLE file including TLE orbital reports for multiple space targets;

[0103] The TLE orbital report of each space target is input into the simplified conventional perturbation SGP4 model, and the trajectory of each space target is obtained based on the prediction results of the SGP4 model.

[0104] Based on the trajectory of each space target, the best tracking target with the best tracking conditions is determined, and the tracking prediction data of the best tracking target during the tracking time is obtained;

[0105] During the tracking time, the antenna beam of the tracking antenna is controlled to point towards the optimal tracking target based on the tracking prediction data, and the radiated signal of the optimal tracking target is collected.

[0106] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0107] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0108] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps that specify the function are in one or more boxes.

[0109] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0110] Memory may include non-persistent storage in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0111] Computer-readable media includes both permanent and non-permanent, removable and non-removable media, and information storage can be achieved by any method or technology. Information can be computer-readable instructions, data structures, program modules, or other data. As defined herein, computer-readable media does not include transient media, such as modulated data signals and carrier waves.

[0112] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0113] It should be understood that although the terms first, second, third, etc., may be used in this invention to describe various information, this information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this invention, first information may also be referred to as second information, and similarly, second information may also be referred to as first information.

[0114] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A spatial target tracking method, characterized in that, The method includes: A two-line orbital parameter TLE file is obtained before the tracking time, the TLE file including TLE orbital reports for multiple space targets; The TLE orbital report of each space target is input into the simplified conventional perturbation SGP4 model, and the trajectory of each space target is obtained based on the prediction results of the SGP4 model. Based on the trajectory of each space target, the best tracking target with the best tracking conditions is determined, and the tracking prediction data of the best tracking target during the tracking time is obtained; During the tracking time, the antenna beam of the tracking antenna is controlled to point towards the optimal tracking target based on the tracking prediction data, and the radiated signal of the optimal tracking target is collected; The space target is a non-cooperative space target in low Earth orbit; The optimal target to be tracked refers to a space target that the tracking antenna can continuously observe and track during the tracking time. Before determining the optimal tracking target with the best tracking conditions based on the trajectory of each space target, the process also includes: Obtain the relative distance between each spatial target and the tracking antenna during the tracking time; Based on the relative distance, determine one or more observable spatial targets from the plurality of spatial targets whose relative distance is less than the observable distance threshold; The process of determining the optimal tracking target with the best tracking conditions based on the trajectory of each space target includes: Obtain the spatial position of the tracking antenna; The deviation of the trajectory of each spatial target from the tracking antenna is determined based on the spatial position of the tracking antenna. The optimal tracking target is determined based on the deviation of the trajectory of each space target from the tracking antenna. The step of determining the optimal tracking target based on the deviation of each space target's trajectory from the tracking antenna includes: If the deviation of multiple space targets is less than a preset deviation value, the difference between the deviations of these multiple space targets is determined. If the difference between the deviations of the multiple spatial targets is greater than the predicted difference value, the spatial target with the smallest deviation is determined as the best tracking target; If the difference between the deviations of the multiple spatial targets is not greater than the predicted difference value, obtain the relative distance between the multiple spatial targets and the tracking antenna at the intermediate tracking time; or, obtain the elevation angle of the multiple spatial targets to the tracking antenna at the intermediate tracking time; determine the spatial target with the smallest relative distance to the tracking antenna as the best tracking target, or determine the spatial target with the largest elevation angle to the tracking antenna as the best tracking target; The step of obtaining the TLE file before the tracking time includes: Obtain the orbit prediction time of the space target from the TLE orbit report; When the time interval between the orbit prediction time and the tracking start time is less than a preset value, it is determined that the TLE orbit prediction meets the time constraint condition. The TLE file is considered to meet the time constraint condition when all TLE track reports in the TLE file meet the time constraint condition.

2. The method according to claim 1, characterized in that, The step of determining the optimal tracking target based on the deviation of each space target's trajectory from the tracking antenna includes: Obtain the comparison result between the deviation amount of each spatial target and the preset deviation value; If the deviation of a spatial target is less than the preset deviation value, the spatial target is determined to be the best tracking target.

3. The method according to claim 1, characterized in that, The process of determining the optimal tracking target with the best tracking conditions based on the trajectory of each space target includes: The optimal tracking target is determined from the one or more observable space targets.

4. The method according to claim 1, characterized in that, The step of obtaining the TLE file before the tracking time includes: Based on the predicted orbit time and the tracking time, obtain the TLE file that meets the time constraints from a publicly available online platform.

5. A space target tracking device, characterized in that, The device includes: The TLE file acquisition unit is used to acquire a two-line orbital parameter TLE file before the tracking time. The TLE file includes TLE orbit reports for multiple space targets. The trajectory acquisition unit is used to input the TLE trajectory report of each space target into the simplified conventional perturbation SGP4 model, and obtain the trajectory of each space target based on the prediction results of the SGP4 model. The tracking target determination unit is used to determine the best tracking target with the best tracking conditions based on the running trajectory of each space target, and to obtain the tracking prediction data of the best tracking target within the tracking time. A tracking control unit is used to control the antenna beam of the tracking antenna to point to the optimal tracking target according to the tracking prediction data during the tracking time, and to collect the radiation signal of the optimal tracking target; The space target is a non-cooperative space target in low Earth orbit; The optimal target to be tracked refers to a space target that the tracking antenna can continuously observe and track during the tracking time. The space target tracking device further includes a space target filtering unit, used for: Obtain the relative distance between each spatial target and the tracking antenna during the tracking time; Based on the relative distance, determine one or more observable spatial targets from the plurality of spatial targets whose relative distance is less than the observable distance threshold; The target determination unit is specifically used for: Obtain the spatial position of the tracking antenna; The deviation of the trajectory of each spatial target from the tracking antenna is determined based on the spatial position of the tracking antenna. The optimal tracking target is determined based on the deviation of the trajectory of each space target from the tracking antenna. The target determination unit is specifically used for: If the deviation of multiple space targets is less than a preset deviation value, the difference between the deviations of these multiple space targets is determined. If the difference between the deviations of the multiple spatial targets is greater than the predicted difference value, the spatial target with the smallest deviation is determined as the best tracking target; If the difference between the deviations of the multiple spatial targets is not greater than the predicted difference value, obtain the relative distance between the multiple spatial targets and the tracking antenna at the intermediate tracking time; or, obtain the elevation angle of the multiple spatial targets to the tracking antenna at the intermediate tracking time; determine the spatial target with the smallest relative distance to the tracking antenna as the best tracking target, or determine the spatial target with the largest elevation angle to the tracking antenna as the best tracking target; The TLE file acquisition unit is specifically used for: Obtain the orbit prediction time of the space target from the TLE orbit report; When the time interval between the orbit prediction time and the tracking start time is less than a preset value, it is determined that the TLE orbit prediction meets the time constraint condition. The TLE file is considered to meet the time constraint condition when all TLE track reports in the TLE file meet the time constraint condition.

6. An electronic device, characterized in that, include: processor; as well as A memory configured to store computer-executable instructions, which, when executed, cause the processor to perform the method of any one of claims 1-4.

7. A computer-readable storage medium storing one or more programs that, when executed by a processor, implement the method of any one of claims 1-4.

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