A cooperative detection and tracking constellation design method for high-maneuvering cross-domain targets

Abstract

The application provides a cooperative detection and tracking constellation design method for high-maneuvering cross-domain targets, comprising the following steps: determining a high-orbit constellation configuration, initializing and determining the number of high-orbit satellites; calculating the relationship curve between the double coverage percentage of the high-orbit satellites and the orbit inclination curve, and selecting the orbit inclination corresponding to the optimal coverage performance; randomly generating a plurality of high-maneuvering cross-domain targets, and calculating the maximum position error and velocity error of the high-orbit constellation tracking targets; judging whether the handover of the low-orbit satellite detector is successful according to the field of view size of the low-orbit satellite detector; determining a high-orbit constellation configuration, initializing and determining the number of low-orbit satellites; setting the initial tracking error according to the high-maneuvering cross-domain targets, and calculating the maximum position error and velocity error of the low-orbit constellation tracking targets; judging whether the maximum position error and velocity error of the low-orbit constellation tracking targets meet the index requirements, and if not, repeating the method until the index requirements are met.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of spacecraft system overall design, and particularly relates to a cooperative detection and tracking constellation design method for high-maneuvering cross-domain targets. BACKGROUND

[0002] The capability characteristics of remote sensing satellites on different orbits can be used to detect the characteristics of targets in different stages. For a whole tracking task of a high-maneuvering cross-domain target, a high-orbit detection satellite realizes early detection and tracking of launching by detecting the high-temperature tail flame in the active stage, and completes orbit parameter estimation of the target by tracking the flight process in the active stage; a low-orbit remote sensing satellite uses the limb or deep space background to continuously track the cold target with low radiation intensity in the middle stage, and completes precise orbit determination.

[0003] The main factors considered in the traditional detection constellation design method include coverage and link communication. High-orbit satellites are deployed in geosynchronous orbits to observe the earth's surface, and low-orbit constellations are deployed in low orbits below 2000 km to observe deep space. The number and configuration design of high-orbit satellites need to meet the coverage requirements of the earth's surface, and the number and configuration design of low-orbit satellites need to meet the coverage requirements of the sky. At the same time, high-orbit and low-orbit satellites also meet the time chain and precision chain requirements in their respective observation ranges. However, the high-orbit constellation and the low-orbit constellation are designed separately at present, and the overall number and configuration of the high-orbit-low-orbit constellation are not optimized with the goal of closing the time chain and the precision chain. SUMMARY

[0004] Therefore, the present application provides a cooperative detection and tracking constellation design method for high-maneuvering cross-domain targets, which solves the remote sensing constellation design problem facing the closure requirements of the time chain and the precision chain, comprising:

[0005] Step S1, determining the high-orbit constellation configuration, initializing and determining the number of high-orbit satellites;

[0006] Step S2, calculating the relationship curve between the double coverage percentage of the high-orbit satellites and the orbit inclination relationship curve, and selecting the orbit inclination corresponding to the optimal coverage performance;

[0007] Step S3, randomly generating a plurality of high-maneuvering cross-domain targets, and calculating the maximum position error and velocity error of the high-orbit constellation tracking targets;

[0008] Step S4, judging whether the handover of the low-orbit satellite is successful according to the field of view size of the low-orbit satellite detector;

[0009] Step S5, determining the high-orbit constellation configuration, initializing and determining the number of low-orbit satellites;

[0010] Step S6, according to the high-mobility cross-domain target, uniformly set the initial tracking error, calculate the maximum position error and velocity error of the low-orbit constellation tracking target;

[0011] Step S7, judge whether the maximum position error and velocity error of the low-orbit constellation tracking target meet the index requirements, if not, repeat the step S1, adjust the number and configuration of high-orbit and low-orbit satellites, until the index requirements are met;

[0012] Step S8, when the index requirements meet the requirements, determine the final configuration, complete the high-mobility cross-domain target cooperative detection and tracking constellation design.

[0013] In particular, the step S1 specifically includes: determining the high-orbit constellation configuration, initializing the number of high-orbit satellites, gradually increasing the number of satellites, and according to the target starting point observation range A single coverage percentage P1 and a double coverage percentage P2, a detection distance D G , the minimum number of satellites that meet the single coverage percentage P1 and the double coverage percentage P2 of the coverage performance are calculated through simulation by the high-orbit satellite ground payload detector field of view A1.

[0014] In particular, the step S3 specifically includes: using the Monte Carlo method, randomly generating N high-mobility cross-domain targets in the starting point observation range D ; through Kalman filter simulation, calculating the position error E G and velocity error E R of the high-orbit constellation tracking a single target after a continuous observation time T V seconds; and counting the maximum position error E D and velocity error E R_max of the N V_max high-mobility cross-domain targets.

[0015] In particular, the step S4 specifically includes: at the handover time, assuming that the velocity error of the high-speed maneuvering target does not spread within the first T J seconds; if the initial guiding position and velocity error of any one satellite of the high-orbit constellation to the low-orbit constellation is E R_max , E V_max , then the error ellipsoid radius after T J seconds is E R_max +T J ×E V_max , at this time the detection distance of the low-orbit satellite is about D D ; if the air payload field of view is c°×c°, according to the following inequality:

[0016]

[0017] If the above inequality holds true, then the handover is successful.

[0018] Specifically, step S5 includes: determining the low-Earth orbit (LEO) constellation configuration, initializing the number of LEO satellites, gradually increasing the number of satellites, and changing different configurations; and based on the observation range of the target starting point. Single coverage percentage P1 and double coverage percentage P2, detection range D D The minimum number of satellites required to meet the coverage performance requirements of single coverage percentage P1 and double coverage percentage P2 is calculated through simulation.

[0019] Specifically, step S6 includes: according to the N D For each highly maneuverable cross-domain target, the initial tracking error is uniformly set to E. R_max E V_max Through Kalman filter simulation, the duration T of continuous observation for a single target tracked by a low-Earth orbit constellation was calculated. D Position error E after seconds DR and speed error E DV Statistical N D The largest positional error E among highly maneuverable cross-domain targets DR_max and speed error E DV_max .

[0020] Beneficial effects:

[0021] 1) By proposing a collaborative detection and tracking constellation design method for highly maneuverable cross-domain targets, the invention solves the problem of remote sensing constellation design that is oriented towards the closure requirements of time chain and accuracy chain, and breaks through the traditional design idea of ​​remote sensing constellation design that takes indicators such as coverage as the main optimization target.

[0022] 2) By determining the number of high-orbit and low-orbit satellites and their orbital parameters in this invention, the number of high-orbit and low-orbit satellites and their orbital parameters are optimized. The constellation design results use the minimum number of satellites that satisfy the closure of the time chain and accuracy chain, thereby reducing the constellation cost.

[0023] 3) By using the Monte Carlo method in this invention, highly maneuverable cross-domain targets are randomly generated within the observation range from the starting point, ensuring the randomness of the observation range; through Kalman filter simulation, the tracking of a single target by the high-orbit constellation is calculated to be the optimal linear filtering problem with the minimum mean square error as the criterion.

[0024] 4) This invention fully considers the initial guidance position and velocity error of the high-orbit constellation to any satellite in the low-orbit constellation, and makes a more accurate estimate of whether the handover is successful. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the collaborative detection and tracking constellation design process in this invention;

[0026] Figure 2 This refers to the observation range of the starting point by the five high-orbit satellites in this invention. The relationship curve of double coverage. Detailed Implementation

[0027] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0028] Example 1:

[0029] The flowchart of the cooperative detection and tracking constellation design method for highly maneuverable cross-domain targets disclosed in this embodiment is shown below. Figure 1 As shown, to verify this method, typical application scenarios were selected, and the number and configuration of high-Earth orbit and low-Earth orbit constellations were designed. The initial conditions of the scenarios are shown in the table below.

[0030] Initial conditions for designing a cooperative detection and tracking constellation for highly maneuverable cross-domain targets

[0031]

[0032]

[0033] Step S1: Determine the high-orbit constellation configuration: The Walker constellation will be selected for high-orbit geostationary orbit satellites. Initial number of high-orbit satellites N G Initially, select 4 satellites, gradually increasing the number. The observation range will be determined based on the target's starting point. Single coverage percentage P1 and double coverage percentage P2, detection range D G The field of view A1 of the high-orbit satellite ground payload detector is calculated through simulation to determine the minimum number of satellites required to meet the coverage performance requirements of P1 and P2.

[0034] When N G =4,

[0035]

[0036] Increase the number of satellites, when N G =5,

[0037]

[0038] Select the number of high-orbit satellites N G =5.

[0039] Step S2: Determine the orbital inclination angle of the high-orbit constellation: Calculate the double coverage percentage P through simulation. G2 The curve showing the relationship between the curve and the track inclination angle. Adjusting i G Select the orbital inclination angle i that provides the best coverage performance. G =4°. For example... Figure 2As shown, the observation range of the starting point by the five high-orbit satellites. The relationship curve of double coverage.

[0040] Step S3: Calculate the maximum position and velocity errors of the target tracked by the high-orbit constellation: Using the Monte Carlo method, within the observation range of the starting point... Randomly generate N D A highly maneuverable, cross-domain target. Using Kalman filter simulation, the duration T of continuous observation while a high-orbit constellation tracks a single target is calculated. G Position error E after seconds R and speed error E V Statistical N D The largest positional error E among highly maneuverable cross-domain targets R_max and speed error E V_max

[0041]

[0042] Step S4: Determine whether the low-Earth orbit satellite handover was successful based on the field of view of the low-Earth orbit satellite detector: During handover, assume that the speed error of the high-speed maneuvering target is within the first T... J It spreads almost non-existently within seconds. If the initial guidance position and velocity error of any satellite in the low-Earth orbit constellation from the high-Earth orbit constellation is E... R_max E V_max Then T J The radius of the ellipsoid after the second error is E R_max +T J ×E V_max At this time, the detection range of the low-orbit satellite is approximately D. D If the field of view for an unloaded load is c°×c°, the following inequality must be satisfied:

[0043]

[0044]

[0045] The above inequality holds true, and the handover is successful.

[0046] Step S5: Determine the LEO constellation configuration: The Walker constellation will be selected for LEO. Initial number of LEO satellites N D Initially, 24 satellites were selected, with the number gradually increased and different configurations varied. This was based on the requirements for single-layer coverage percentage P1 and double-layer coverage percentage P2, and the detection range D. D The minimum number of satellites required to meet coverage performance requirements P1 and P2 is calculated through simulation.

[0047]

[0048] When the number of satellites increases to 42, with a layout of 7 orbital planes and 6 satellites per orbital plane, an orbital altitude of 2400km and an orbital inclination of 69° are selected to meet the coverage requirements.

[0049] Step S6: Calculate the maximum position error and velocity error of the target tracked by the low-Earth orbit constellation: based on the N generated in Step 3. D For each highly maneuverable cross-domain target, the initial tracking error is uniformly set to E. R_max E V_max Through Kalman filter simulation, the duration T of continuous observation for a single target tracked by a low-Earth orbit constellation was calculated. D Position error E after seconds DR and speed error E DV Statistical N D The largest positional error E among highly maneuverable cross-domain targets DR_max and speed error E DV_max

[0050]

[0051] Step S7: Determine whether the maximum position error and velocity error of the target tracked by the low-Earth orbit constellation meet the requirements. If not, repeat step one iteratively to adjust the number and configuration of high-Earth orbit and low-Earth orbit satellites until the requirements are met.

[0052]

[0053] Satisfy R max and V max The indicator requirements.

[0054] Step S8: If R is satisfied max and V max Then the final configuration will be determined, and the design of a highly maneuverable cross-domain target cooperative detection and tracking constellation will be completed.

[0055] High orbit constellation Low orbit constellation Number of satellites 5 42 Orbit plane 5 7 Number of satellites per orbit plane 1 6 Orbit inclination 4° 69°

[0056] In summary, the above are merely preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

[0057] It will be apparent to those skilled in the art that the embodiments of the present invention are not limited to the details of the exemplary embodiments described above, and that the embodiments of the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the embodiments of the present invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the embodiments of the present invention is defined by the appended claims rather than the foregoing description. Therefore, all variations falling within the meaning and scope of equivalents of the claims are intended to be encompassed within the embodiments of the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims. Furthermore, it is clear that the word "comprising" does not exclude other units or steps, and the singular does not exclude the plural. Multiple units, modules, or devices recited in the system, apparatus, or terminal claims may also be implemented by the same unit, module, or device through software or hardware. The terms "first," "second," etc., are used to indicate names and do not indicate any particular order.

[0058] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the embodiments of the present invention and are not intended to limit them. Although the embodiments of the present invention have been described in detail with reference to the above preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions to the technical solutions of the embodiments of the present invention should not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for designing a cooperative detection and tracking constellation against high-maneuvering cross-domain targets, characterized in that, Comprise: Step S1, determine the high orbit constellation configuration, initialize and determine the number of high orbit satellites; Step S2, calculate the relationship curve between the double coverage percentage of the high orbit satellite and the orbit inclination curve, select the orbit inclination corresponding to the optimal coverage performance; Step S3, randomly generate a plurality of high mobility cross domain targets, calculate the maximum position error and velocity error of the high orbit constellation tracking target; Step S4, according to the field of view size of the low orbit satellite detector, judge whether the handover of the low orbit satellite is successful; Step S5, determine the low orbit constellation configuration, initialize and determine the number of low orbit satellites; Step S6, according to the high mobility cross domain target, uniformly set the initial tracking error, calculate the maximum position error and velocity error of the low orbit constellation tracking target; Step S7, judge whether the maximum position error and velocity error of the low orbit constellation tracking target meet the index requirements, if not, repeat the step S1, adjust the number and configuration of high and low orbit satellites, until the index requirements are met; Step S8, when the index requirements meet the requirements, determine the final configuration, complete the high mobility cross domain target cooperative detection and tracking constellation design; The step S3 specifically comprises: observing the range of the starting point by using a Monte Carlo method Randomly generating N D high-maneuvering cross-domain targets; calculating the position error E G and the velocity error E R of the high-orbit constellation tracking a single target after a continuous observation time length T V seconds through Kalman filter simulation; and statistically obtaining the maximum position error E D and the maximum velocity error E R_max of N V_max high-maneuvering cross-domain targets. The step S4 specifically comprises: assuming that the speed error of the high-speed maneuvering target does not spread almost within the previous T J seconds when handing over; if the initial guiding position and speed error of any satellite of the high-orbit constellation to the low-orbit constellation is E R_max , E V_max , the error ellipsoid radius is J after T seconds; at this time, the detection distance of the low-orbit satellite is D D ; if the field of view of the space payload is c°×c°, the following inequality is used: If the above inequality is established, the handover is successful; The step S5 specifically comprises: determining a low-orbit constellation configuration, initializing the number of low-orbit satellites, gradually increasing the number of satellites, transforming different configurations; according to the target starting point observation range a percentage of one-fold coverage P1 and a percentage of two-fold coverage P2, a detection distance D D The minimum number of satellites satisfying the percentage of one-fold coverage P1 and the percentage of two-fold coverage P2 through simulation calculation of coverage performance; The step S6 specifically comprises: setting the initial tracking error as E D , E R_max according to the N V_max high-maneuvering cross-domain targets; calculating the position error E D and the velocity error E DR after the low-orbit constellation tracks a single target for a continuous observation duration T DV； seconds through Kalman filter simulation; and statistically calculating the maximum position error E D and the maximum velocity error E DR_max in the N DV_max high-maneuvering cross-domain targets.

2. The method for cooperative probing and tracking constellation design against high maneuvering cross-domain targets of claim 1, wherein, The step S1 specifically comprises: determining a high-orbit constellation configuration, initializing the number of high-orbit satellites, gradually increasing the number of satellites, and determining the minimum number of satellites satisfying the single coverage percentage P1 and the double coverage percentage P2 according to the target starting point observation range a single coverage percentage P1 and a double coverage percentage P2, and a detection distance D G a high-orbit satellite-to-ground payload detector field of view A1, and the minimum number of satellites satisfying the single coverage percentage P1 and the double coverage percentage P2 through simulation calculation of coverage performance.

Images