Multi-star integrated global positioning system and method with optical satellite

Abstract

The application relates to a multi-constant star and optical satellite integrated global positioning device and method, wherein the device comprises: an integrated star-satellite angle measurement system, which is used for simultaneously observing at least two constant stars and a low-orbit satellite carrying an infrared light source by using the same field of view, so as to obtain an optimal inertial system attitude of the multi-constant star and optical satellite integrated global positioning device based on second vector information; an infrared pulse optical data receiving system, which is used for observing an infrared optical code to obtain position information of the low-orbit satellite; and an embedded microprocessor, which is used for performing data processing to obtain positioning information of the multi-constant star and optical satellite integrated global positioning device. Therefore, the technical problem that related technologies need additional auxiliary sensors to realize high-precision global positioning, the structure of a positioning device is complex, the cost is high, and the precision and sensitivity of the auxiliary sensors are influenced by various factors, thereby influencing the global positioning result is solved.

Description

Technical Field

[0001] This application relates to the fields of optical navigation technology and aerospace technology, and in particular to a global positioning device and method integrating multiple stars and optical satellites. Background Technology

[0002] In related technologies, GNSS (Global Navigation Satellite System) is a radio navigation system composed of dozens of satellites outside the Earth's atmosphere, providing users with global, all-weather, high-precision navigation, positioning, and timing functions. GNSS systems possess unparalleled outdoor positioning capabilities, providing long-term, high-precision location information. However, GNSS signals suffer severe attenuation as they travel from satellites to the Earth's surface, making them highly susceptible to deception and interference, potentially leading to catastrophic consequences.

[0003] With the establishment of low-Earth orbit (LEO) satellite constellations such as Iridium, Starlink, OneWeb, and Kuiper, thousands of satellites orbit the Earth in LEO, providing satellite wireless internet and global remote sensing services to ground users. Compared to GNSS high-Earth orbit (GEO) satellites, LEO satellite constellations transmit radio signals more strongly to the ground, but they are inevitably susceptible to deception and interference, which can affect positioning accuracy.

[0004] In nighttime global positioning using a combination of multiple stars and optical satellites, altitude information obtained through altimeter observation equipment such as barometers needs to be converted into elevation information in the WGS-84 coordinate system. However, in some environments, the elevation information is not accurate, which will lead to a large error in the decoupled position.

[0005] In summary, the relevant technologies require additional auxiliary sensors to achieve high-precision global positioning. The positioning equipment has a complex structure and high cost. Furthermore, the accuracy and sensitivity of the auxiliary sensors are affected by various factors, which in turn affect the results of global positioning. Therefore, improvements are needed. Summary of the Invention

[0006] This application provides a global positioning device and method integrating multiple stars and optical satellites to solve the technical problems of requiring additional auxiliary sensors to achieve high-precision global positioning, complex positioning equipment structure, high cost, and the fact that the accuracy and sensitivity of auxiliary sensors are affected by various factors, thus affecting the global positioning results.

[0007] The first aspect of this application provides a global positioning device integrating multiple stars and optical satellites, comprising: an integrated star-satellite angle measurement system for simultaneously observing a low-orbit satellite equipped with an infrared light source and at least two stars using the same field of view, obtaining first vector information of the low-orbit satellite and second vector information of each star at the current moment, so as to obtain the optimal inertial frame attitude of the global positioning device integrating multiple stars and optical satellites based on the second vector information; an infrared pulse optical data receiving system for observing infrared optical encoding to obtain the position information of the low-orbit satellite; and an embedded microprocessor for performing data processing on the first vector information, the second vector information, the position information, and the optimal inertial frame attitude to obtain the positioning information of the global positioning device integrating multiple stars and optical satellites.

[0008] Optionally, in one embodiment of this application, it further includes: a time reference module for providing Coordinated Universal Time (UTC) to read the current time.

[0009] Optionally, in one embodiment of this application, the integrated star-satellite angle measurement system is further used to extract the second vector information, identify the corresponding navigation star vector using a star map, and estimate the optimal inertial frame attitude of the multi-star and optical satellite integrated global positioning device based on the second vector information and the navigation star vector.

[0010] Optionally, in one embodiment of this application, the embedded microprocessor is further configured to transform the optimal inertial frame attitude to a geocentric-ground-fixed coordinate system based on the current moment, and to construct the satellite-multi-star attitude coupling equation for the current moment.

[0011] Optionally, in one embodiment of this application, the satellite-multi-star pose coupling equation at the current moment is:

[0012]

[0013] Among them, t k For a moment, Let be the projection function of the vector of the low-orbit satellite in the geocentric coordinate system. Let be the position vector of the low-orbit satellite in the geocentric-ground-fixed coordinate system. This is the position vector of the device in the Earth-centered Earth-fixed coordinate system.

[0014] Optionally, in one embodiment of this application, the embedded microprocessor is further configured to obtain the satellite-multi-star pose coupling equation and least squares expression at multiple time points after repeated observations by the integrated star-satellite angle measurement system and the infrared pulse optical data receiving system, and obtain the positioning information of the global positioning device integrating the multi-star and optical satellite by solving the least squares expression.

[0015] Optionally, in one embodiment of this application, the least squares expression is:

[0016]

[0017] in, The value measured by the integrated global positioning system combining multiple stars and optical satellites, n k To measure noise, H k For the device transfer function, This is the position vector of the device in the Earth-centered Earth-fixed coordinate system.

[0018] A second aspect of this application provides a global positioning method integrating multiple stars and optical satellites, comprising the following steps: simultaneously observing a low-orbit satellite equipped with an infrared light source and at least two stars using the same field of view, obtaining first vector information of the low-orbit satellite and second vector information of each star at the current moment, so as to obtain the optimal inertial frame attitude of the global positioning device integrating multiple stars and optical satellites based on the second vector information; obtaining the position information of the low-orbit satellite by observing infrared optical encoding; and performing data processing on the first vector information, the second vector information, the position information, and the optimal inertial frame attitude to obtain the positioning information of the global positioning device integrating multiple stars and optical satellites.

[0019] Optionally, in one embodiment of this application, obtaining the optimal inertial frame attitude of the multi-star and optical satellite integrated global positioning device based on the first vector information and the second vector information includes: extracting the second vector information and using a star map to identify the corresponding navigation star vector; and estimating the optimal inertial frame attitude of the multi-star and optical satellite integrated global positioning device based on the second vector information and the navigation star vector.

[0020] Optionally, in one embodiment of this application, the step of processing the first vector information, the second vector information, the position information, and the optimal inertial frame attitude to obtain the positioning information of the global positioning device integrating multiple stars and optical satellites includes: transforming the optimal inertial frame attitude to the geocentric coordinate system according to the current time, and constructing the satellite-multi-star attitude coupling equation at the current time.

[0021] Optionally, in one embodiment of this application, the satellite-multi-star pose coupling equation at the current moment is:

[0022]

[0023] Among them, t k For a moment, Let be the projection function of the vector of the low-orbit satellite in the geocentric coordinate system. Let be the position vector of the low-orbit satellite in the geocentric-ground-fixed coordinate system. This is the position vector of the device in the Earth-centered Earth-fixed coordinate system.

[0024] Optionally, in one embodiment of this application, the step of processing the first vector information, the second vector information, the position information, and the optimal inertial frame attitude to obtain the positioning information of the multi-star and optical satellite integrated global positioning device includes: after repeated observations by the integrated star-satellite angle measurement system and the infrared pulse optical data receiving system, obtaining the satellite-multi-star pose coupling equation and the least squares expression at multiple time points, and obtaining the positioning information of the multi-star and optical satellite integrated global positioning device by solving the least squares expression.

[0025] Optionally, in one embodiment of this application, the least squares expression is:

[0026]

[0027] in, The value measured by the integrated global positioning system combining multiple stars and optical satellites, n k To measure noise, H k For the device transfer function, This is the position vector of the device in the Earth-centered Earth-fixed coordinate system.

[0028] This application embodiment utilizes an integrated star-satellite angle measurement system to simultaneously observe a low-Earth orbit satellite equipped with an infrared light source and at least two stars within the same field of view. The position information of the low-Earth orbit satellite is obtained by observing infrared optical encoding through an infrared pulse optical data receiving system. The optimal inertial frame attitude and observation vector of the integrated global positioning device (GPS) combining multiple stars and optical satellites are obtained by observing at least two stars and the low-Earth orbit satellite using the angle measurement system. Finally, an embedded microprocessor processes the observation results to obtain the positioning information of the integrated GPS, thus achieving direct attitude acquisition. Furthermore, by repeatedly observing the same optical satellite and multiple stars, GPS can be achieved using only one optical satellite without relying on other auxiliary sensors. This solves the technical problems of related technologies requiring additional auxiliary sensors to achieve high-precision GPS, complex positioning equipment structures, high costs, and the fact that the accuracy and sensitivity of auxiliary sensors are affected by various factors, thus impacting the GPS results.

[0029] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0030] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0031] Figure 1 This is a schematic diagram of the structure of a global positioning device integrating multiple stars and optical satellites according to an embodiment of this application;

[0032] Figure 2 This is a schematic diagram of the principle of a multi-star and optical satellite integrated global positioning device according to one embodiment of this application. Figure 1 ;

[0033] Figure 3 This is a schematic diagram of the principle of a multi-star and optical satellite integrated global positioning device according to one embodiment of this application. Figure 2 ;

[0034] Figure 4 This is a schematic diagram of the principle of a multi-star and optical satellite integrated global positioning device according to one embodiment of this application. Figure 3 ;

[0035] Figure 5 This is a schematic diagram of the principle of a multi-star and optical satellite integrated global positioning device according to one embodiment of this application. Figure 4 ;

[0036] Figure 6This is a flowchart of a global positioning method integrating multiple stars and optical satellites according to an embodiment of this application. Detailed Implementation

[0037] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0038] The following description, with reference to the accompanying drawings, describes a global positioning device and method integrating multiple stars and optical satellites according to embodiments of this application. Addressing the technical problems mentioned in the background art, such as the need for additional auxiliary sensors to achieve high-precision global positioning, the complexity and high cost of positioning equipment, and the fact that the accuracy and sensitivity of auxiliary sensors are affected by various factors, thus impacting the global positioning results, this application provides a global positioning device integrating multiple stars and optical satellites. In this device, an integrated star-satellite angle measurement system can simultaneously observe a low-orbit satellite equipped with an infrared light source and at least two stars in the same field of view. The position information of the low-orbit satellite is obtained by observing infrared optical encoding through an infrared pulse optical data receiving system. The optimal inertial frame attitude and observation vector of the integrated global positioning device are obtained by observing at least two stars and the low-orbit satellite using the angle measurement system. Finally, the observation results are processed by an embedded microprocessor to obtain the positioning information of the integrated global positioning device, thereby achieving direct attitude acquisition. Furthermore, by observing the same optical satellite and multiple stars multiple times, global positioning can be achieved using only one optical satellite without relying on other auxiliary sensors. This solves the technical problems that related technologies require additional auxiliary sensors to achieve high-precision global positioning, the positioning equipment has a complex structure and high cost, and the accuracy and sensitivity of auxiliary sensors are affected by various factors, thus affecting the global positioning results.

[0039] Before proceeding with the detailed explanation, it is necessary to clarify the reference coordinate systems and symbols involved. The coordinate systems involved include: the instrument measurement coordinate system, the Earth-centered Earth-fixed coordinate system (ECEF), and the J2000 inertial coordinate system (ECI). The instrument measurement coordinate system is used to represent the observation vector, and its coordinate system representation is (·). b The Earth-centered, Earth-fixed coordinate system is a Cartesian coordinate system bound to the Earth's zero-degree meridian, represented as (·). e Its center is located at the Earth's center of mass, the X-axis points to the intersection of the prime meridian and the equatorial plane, the Z-axis points to the geographic North Pole, and the Y-axis is perpendicular to the XZ-axis.

[0040] It should be noted that WGS-84 is a geocentric, earth-fixed coordinate system representation, commonly used in GPS (Global Positioning System). The J2000 inertial coordinate system, with the Earth's center of mass as its origin, is represented as (·). i Its three axes remain fixed and do not rotate with the Earth. The X-axis points to the vernal equinox, the Z-axis points to the North Pole, and the Y-axis is perpendicular to the X and Z axes, conforming to the right-hand coordinate system theorem. and Let represent the rotation matrix and translation vector from coordinate system b to coordinate system i, respectively. Due to the involvement of time concepts, we use... Let represent the rotation matrix from coordinate system b to coordinate system i at time k.

[0041] Specifically, Figure 1 This is a schematic diagram of the structure of a global positioning device integrating multiple stars and optical satellites, provided in an embodiment of this application.

[0042] like Figure 1 As shown, the multi-star and optical satellite integrated global positioning device 10 includes: an integrated star-satellite angle measurement system 100, an infrared pulse optical data receiving system 200, and an embedded microprocessor 400.

[0043] Specifically, the integrated star-satellite angle measurement system 100 is used to simultaneously observe a low-orbit satellite equipped with an infrared light source and at least two stars using the same field of view, and obtain the first vector information of the low-orbit satellite and the second vector information of each star at the current moment, so as to obtain the optimal inertial frame attitude of the multi-star and optical satellite integrated global positioning device based on the second vector information.

[0044] In actual operation, the integrated star-satellite angle measurement system 100 can simultaneously observe at least two stars and low-orbit satellites, complete the elevation angle and direction angle measurement, realize angle measurement, and obtain the optimal inertial frame attitude of the multi-star and optical satellite integrated global positioning device 10 by measuring the elevation angle and direction angle of the stars and the elevation angle and direction angle of the low-orbit satellites.

[0045] The integrated star-satellite angle measurement system 100 can measure the current time t. k By simultaneously observing a low-Earth orbit satellite equipped with an infrared light source and at least two stars using the same field of view, the first vector information of the low-Earth orbit satellite can be obtained. and the second vector information of each star Among them, the number of stars m ≥ 2.

[0046] Optionally, in one embodiment of this application, the integrated star-satellite angle measurement system 100 is further used to extract second vector information, identify the corresponding navigation star vector using a star map, and estimate the optimal inertial frame attitude of the multi-star and optical satellite integrated global positioning device 10 based on the second vector information and the navigation star vector.

[0047] Furthermore, the integrated star-satellite angle measurement system 100 of this application embodiment can also extract the second vector information of the star. Star map identification is performed to obtain the vector of the observed navigation star. The optimal inertial frame attitude is estimated using methods such as QUEST. To minimize the objective function:

[0048]

[0049] Where, α m For the weighting coefficients, satisfying

[0050] The infrared pulse optical data receiving system 200 is used to obtain the position information of low-orbit satellites by observing infrared optical encoding.

[0051] As one possible approach, the infrared pulse optical data receiving system 200 can obtain the latitude, longitude, and altitude information of a low-Earth orbit (LEO) satellite, i.e., the LEO satellite's position information, by receiving the optical payload signal from the LEO satellite.

[0052] The embedded microprocessor 300 is used to process the first vector information, the second vector information, the position information, and the optimal inertial frame attitude to obtain the positioning information of the global positioning device 10 integrating multiple stars and optical satellites.

[0053] In actual execution, the embedded microprocessor 300 can process the obtained first vector information, second vector information, position information, and optimal inertial frame attitude to obtain the positioning information of the global positioning device 10 integrating multiple stars and optical satellites. By processing the first vector information, second vector information, position information, and optimal inertial frame attitude obtained at multiple times, the accuracy of the positioning information is improved.

[0054] Optionally, in one embodiment of this application, the embedded microprocessor 300 is further configured to transform the optimal inertial frame attitude to a geocentric coordinate system based on the current moment, and construct the satellite-multi-star pose coupling equation for the current moment, wherein the satellite-multi-star pose coupling equation for the current moment is:

[0055]

[0056] Among them, tk For a moment, This is the projection function of the vector of a low-Earth orbit satellite in the geocentric-fixed coordinate system. This represents the position vector of a low-orbit satellite in a geocentric coordinate system. This is the position vector of the device in the Earth-centered Earth-fixed coordinate system.

[0057] As one possible implementation method, embodiments of this application can be based on the current time t. k Transform the optimal inertial frame attitude to the geocentric coordinate system using the transformation matrix. Obtained through time.

[0058] in,

[0059]

[0060] Construct t k The satellite-multi-star pose coupling equation at time t, based on the low-orbit satellite at t k The observation equation for time:

[0061]

[0062] in, The distance between the low-orbit satellite and device 10 can be expressed as:

[0063]

[0064] in, This represents the satellite's position vector in the geocentric coordinate system, expressed as latitude, longitude, and altitude (φ). k ,λ k ,h k The calculation, specifically in the WGS-84 coordinate system, is as follows:

[0065]

[0066] in:

[0067]

[0068]

[0069] a = 6378137m

[0070] b = 6356752.31424518m.

[0071] Will Disassembled into latitude, longitude, and height (φ) k ,λ k ,h k The function, let Right now:

[0072]

[0073] Further transforming the above equation, we obtain the result at t k At any given moment, and distance Unrelated satellite-multi-star pose coupling equations:

[0074]

[0075] in,

[0076]

[0077] Optionally, in one embodiment of this application, the embedded microprocessor 300 is further configured to obtain the satellite-multi-star pose coupling equation and least squares expression at multiple time points after repeated observations by the integrated star-satellite angle measurement system 100 and the infrared pulse optical data receiving system 200, and to obtain the positioning information of the multi-star and optical satellite integrated global positioning device 10 by solving the least squares expression, wherein the least squares expression is:

[0078]

[0079] in, The value is a measurement from a global positioning system integrating multiple stars and optical satellites. arrive The combination, n k To measure noise, H k For the device transfer function, Let be the position vector of the device in the Earth-centered Earth-fixed coordinate system, and let its value be _____. arrive The combination of .

[0080] When a low-orbit satellite enters the field of view of this embodiment, the above operations can be repeatedly performed through satellite observations at multiple times to establish satellite-star attitude coupling equations at multiple times, and then establish least squares expressions:

[0081]

[0082] Where, n k H represents the measurement noise. k Represented as:

[0083]

[0084] Solve the linear least squares equation:

[0085]

[0086] The optimal location solution was obtained. Finally, the carrier position was converted to latitude, longitude, and altitude (φ) in WGS-84. p ,λ p ,h p Output in the form of )

[0087]

[0088] in,

[0089]

[0090]

[0091]

[0092] Optionally, in one embodiment of this application, the multi-star and optical satellite integrated global positioning device 10 further includes a time reference module.

[0093] The time reference module is used to provide Coordinated Universal Time (UTC) to read the current time.

[0094] In some embodiments, the multi-star and optical satellite integrated global positioning device 10 can also obtain the current time through the high-precision Coordinated Universal Time provided by the time reference module to improve the final positioning accuracy.

[0095] Combination Figures 2-4 As shown, the working principle of the multi-star and optical satellite integrated global positioning device 10 of this application is described in detail with reference to one embodiment.

[0096] The multi-star and optical satellite integrated global positioning device 10 of this application embodiment includes: an integrated star-satellite angle measurement system 100, an infrared pulse optical data receiving system 200, an embedded microprocessor 300, and a time reference module.

[0097] like Figure 2 As shown, the integrated global positioning device 10, which combines multiple stars and optical satellites, can simultaneously observe low-Earth orbit satellites equipped with infrared light sources and multiple stars, obtaining vector information of multiple stars and low-Earth orbit satellites, as well as the spatial position of the low-Earth orbit satellites, thereby establishing a multi-star-satellite pose coupling equation under a single observation. Utilizing the rapid movement of satellites, the integrated global positioning device 10, through continuous observation of the same satellite and observation of multiple stars, constructs a multi-star-satellite pose coupling equation under multiple observations, thus decoupling the position of the carrier.

[0098] like Figure 3As shown in this embodiment, the integrated global positioning device 10, combining multiple stars and optical satellites, has a field of view of 30°×30° and a frame rate of 10Hz. Through the integrated star-satellite angle measurement system 100, it can simultaneously observe stars and satellites, completing elevation and orientation angle measurements to achieve angle measurement. The infrared pulse optical data receiving system 200 receives signals from the low-Earth orbit satellite's optical payload to obtain the latitude, longitude, and altitude information of the low-Earth orbit satellite. The integrated global positioning device 10 incorporates a high-precision time reference module to obtain high-precision Coordinated Universal Time (UTC), and an embedded microprocessor 300 to perform complex mathematical calculations.

[0099] Specifically, such as Figure 4 As shown, the specific process by which the multi-star and optical satellite integrated global positioning device 10 achieves global positioning is as follows:

[0100] Step S401: The integrated star-satellite angle measurement system 100 at the current time t k By simultaneously observing a low-Earth orbit satellite equipped with an infrared light source and at least two stars using the same field of view, the first vector information of the low-Earth orbit satellite can be obtained. and the second vector information of each star Among them, the number of stars m ≥ 2.

[0101] Extracting the second vector information of stars Star map identification is performed to obtain the vector of the observed navigation star. The optimal inertial frame attitude is estimated using methods such as QUEST. To minimize the objective function:

[0102]

[0103] Where, α m For the weighting coefficients, satisfying

[0104] Step S402: Based on the current time t k Transform the optimal inertial frame attitude to the geocentric coordinate system using the transformation matrix. Obtained through time.

[0105] in,

[0106]

[0107] Step S403: Construct t k The satellite-multi-star pose coupling equation at time t, based on the satellite at time t k The observation equation for time:

[0108]

[0109] in, The distance between the low-orbit satellite and device 10 can be expressed as:

[0110]

[0111] in, This represents the satellite's position vector in the geocentric coordinate system, expressed as latitude, longitude, and altitude (φ). k ,λ k ,h k The calculation, specifically in the WGS-84 coordinate system, is as follows:

[0112]

[0113] in:

[0114]

[0115]

[0116] a = 6378137m

[0117] b = 6356752.31424518m.

[0118] Will Disassembled into latitude, longitude, and height (φ) k ,λ k ,h k The function, let Right now:

[0119]

[0120] Further transforming the above equation, we obtain the result at t k At any given moment, and distance Unrelated satellite-multi-star pose coupling equations:

[0121]

[0122] in,

[0123]

[0124] Step S404: When a low-orbit satellite enters the field of view of this embodiment, as follows: Figure 5 As shown, through satellite observations at multiple time points, the embodiments of this application can repeatedly perform the above operations to establish satellite-star attitude coupling equations at multiple time points, and then establish least squares expressions:

[0125]

[0126] Where, n k H represents noise. k Represented as:

[0127]

[0128] Step S405: Solve the linear least squares equation:

[0129]

[0130] The optimal location solution was obtained. Finally, the carrier position was converted to latitude, longitude, and altitude (φ) in WGS-84. p ,λ p ,h p Output in the form of )

[0131]

[0132] in,

[0133]

[0134]

[0135]

[0136] The multi-star and optical satellite integrated global positioning device proposed in this application can simultaneously observe a low-orbit satellite equipped with an infrared light source and at least two stars in the same field of view using an integrated star-satellite angle measurement system. The position information of the low-orbit satellite is obtained by observing infrared optical encoding through an infrared pulse optical data receiving system. The optimal inertial frame attitude and observation vector of the multi-star and optical satellite integrated global positioning device are obtained by observing at least two stars and the low-orbit satellite using the angle measurement system. Finally, the embedded microprocessor processes the above observation results to obtain the positioning information of the multi-star and optical satellite integrated global positioning device, thus achieving direct attitude acquisition. Furthermore, by observing the same optical satellite and multiple stars multiple times, global positioning can be achieved using only one optical satellite without relying on other auxiliary sensors. This solves the technical problems of related technologies requiring additional auxiliary sensors to achieve high-precision global positioning, complex positioning equipment structures, high costs, and the fact that the accuracy and sensitivity of auxiliary sensors are affected by various factors, thus impacting the global positioning results.

[0137] Next, referring to the accompanying drawings, a global positioning method integrating multiple stars and optical satellites according to embodiments of this application is described.

[0138] Figure 6This is a flowchart of a global positioning method integrating multiple stars and optical satellites according to an embodiment of this application.

[0139] like Figure 6 As shown, this multi-star and optical satellite integrated global positioning method includes the following steps:

[0140] In step S601, the low-orbit satellite equipped with an infrared light source and at least two stars are observed simultaneously using the same field of view. The first vector information of the low-orbit satellite and the second vector information of each star at the current moment are obtained respectively. Based on the second vector information, the optimal inertial frame attitude of the global positioning device integrating multiple stars and optical satellites is obtained.

[0141] In step S602, the position information of the low-orbit satellite is obtained by observing the infrared optical encoding.

[0142] In step S603, the first vector information, the second vector information, the position information, and the optimal inertial frame attitude are processed to obtain the positioning information of the global positioning device integrating multiple stars and optical satellites.

[0143] Optionally, in one embodiment of this application, obtaining the optimal inertial frame attitude of the multi-star and optical satellite integrated global positioning device based on the first vector information and the second vector information includes: extracting the second vector information and using star map identification to obtain the corresponding navigation star vector; and estimating the optimal inertial frame attitude of the multi-star and optical satellite integrated global positioning device based on the second vector information and the navigation star vector.

[0144] Optionally, in one embodiment of this application, data processing is performed on the first vector information, the second vector information, the position information, and the optimal inertial frame attitude to obtain the positioning information of the global positioning device integrating multiple stars and optical satellites, including: transforming the optimal inertial frame attitude to the geocentric coordinate system according to the current time, and constructing the satellite-multi-star attitude coupling equation at the current time.

[0145] Optionally, in one embodiment of this application, the satellite-multi-star pose coupling equation at the current moment is:

[0146]

[0147] Among them, t k For a moment, This is the projection function of the vector of a low-Earth orbit satellite in the geocentric-fixed coordinate system. This represents the position vector of a low-orbit satellite in a geocentric coordinate system. This is the position vector of the device in the Earth-centered Earth-fixed coordinate system.

[0148] Optionally, in one embodiment of this application, data processing is performed on the first vector information, the second vector information, the position information, and the optimal inertial frame attitude to obtain the positioning information of the global positioning device integrating multiple stars and optical satellites. This includes: after repeated observations by the integrated star-satellite angle measurement system and the infrared pulse optical data receiving system, obtaining the satellite-multi-star pose coupling equation and the least squares expression at multiple time points, and obtaining the positioning information of the global positioning device integrating multiple stars and optical satellites by solving the least squares expression.

[0149] Optionally, in one embodiment of this application, the least squares expression is:

[0150]

[0151] in, For measurements taken by a global positioning system integrating multiple stars and optical satellites, n k To measure noise, H k For the device transfer function, This is the position vector of the device in the Earth-centered Earth-fixed coordinate system.

[0152] It should be noted that the foregoing explanation of the embodiment of the multi-star and optical satellite integrated global positioning device also applies to the multi-star and optical satellite integrated global positioning method of this embodiment, and will not be repeated here.

[0153] The multi-star and optical satellite integrated global positioning method proposed in this application can simultaneously observe a low-Earth orbit satellite equipped with an infrared light source and at least two stars in the same field of view using an integrated star-satellite angle measurement system. The position information of the low-Earth orbit satellite is obtained by observing infrared optical encoding through an infrared pulse optical data receiving system. The optimal inertial frame attitude and observation vector of the multi-star and optical satellite integrated global positioning device are obtained by observing at least two stars and the low-Earth orbit satellite using the angle measurement system. Finally, the embedded microprocessor processes the above observation results to obtain the positioning information of the multi-star and optical satellite integrated global positioning device, thus achieving direct attitude acquisition. Furthermore, by observing the same optical satellite and multiple stars multiple times, global positioning can be achieved using only one optical satellite without relying on other auxiliary sensors. This solves the technical problems of related technologies requiring additional auxiliary sensors to achieve high-precision global positioning, complex positioning equipment structures, high costs, and the fact that the accuracy and sensitivity of auxiliary sensors are affected by various factors, thus impacting the global positioning results.

[0154] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is 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.

[0155] 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, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0156] 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 N executable instructions for implementing custom logic functions or processes, 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 functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0157] 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).

Claims

1. A global positioning device integrating multiple stars and optical satellites, characterized in that, include: An integrated star-satellite angle measurement system is used to simultaneously observe a low-orbit satellite equipped with an infrared light source and at least two stars using the same field of view, and obtain the first vector information of the low-orbit satellite and the second vector information of each star at the current moment, so as to obtain the optimal inertial frame attitude of the multi-star and optical satellite integrated global positioning device based on the second vector information. An infrared pulse optical data receiving system is used to observe infrared optical codes to obtain the position information of the low-orbit satellite; An embedded microprocessor is used to process the first vector information, the second vector information, the position information, and the optimal inertial frame attitude to obtain the positioning information of the multi-star and optical satellite integrated global positioning device.

2. The apparatus according to claim 1, characterized in that, Also includes: The time reference module provides Coordinated Universal Time (UTC) to read the current time.

3. The apparatus according to claim 1, characterized in that, The integrated star-satellite angle measurement system is also used to extract the second vector information, identify the corresponding navigation star vector using the star map, and estimate the optimal inertial frame attitude of the multi-star and optical satellite integrated global positioning device based on the second vector information and the navigation star vector.

4. The apparatus according to claim 3, characterized in that, The embedded microprocessor is also used to transform the optimal inertial frame attitude to the geocentric-ground-fixed coordinate system according to the current time, and to construct the satellite-multi-star attitude coupling equation for the current time.

5. The apparatus according to claim 4, characterized in that, The satellite-multi-star pose coupling equation at the current moment is: ， in, For a moment, Let be the projection function of the vector of the low-orbit satellite in the geocentric coordinate system. Let be the position vector of the low-orbit satellite in the geocentric-ground-fixed coordinate system. This is the position vector of the device in the Earth-centered Earth-fixed coordinate system.

6. The apparatus according to claim 4, characterized in that, The embedded microprocessor is also used to obtain the satellite-multi-star pose coupling equation and least squares expression at multiple time points after repeated observations by the integrated star-satellite angle measurement system and the infrared pulse optical data receiving system, and to obtain the positioning information of the global positioning device integrating multi-star and optical satellite by solving the least squares expression.

7. The apparatus according to claim 6, characterized in that, The least squares expression is: ， in, The measured value is from the device. To measure noise, For the device transfer function, This is the position vector of the device in the Earth-centered Earth-fixed coordinate system.

8. A global positioning method integrating multiple stars and optical satellites, characterized in that, Using the multi-star and optical satellite integrated global positioning device as described in any one of claims 1-7, wherein the method includes the following steps: By simultaneously observing a low-orbit satellite equipped with an infrared light source and at least two stars using the same field of view, the first vector information of the low-orbit satellite and the second vector information of each star at the current moment are obtained, so as to obtain the optimal inertial frame attitude of the global positioning device integrating multiple stars and optical satellites based on the second vector information. The position information of the low-Earth orbit satellite is obtained by observing infrared optical codes. Data processing is performed on the first vector information, the second vector information, the position information, and the optimal inertial frame attitude to obtain the positioning information of the global positioning device integrating multiple stars and optical satellites.

9. The method according to claim 8, characterized in that, The process of obtaining the optimal inertial frame attitude of the integrated global positioning device combining multiple stars and optical satellites based on the second vector information includes: Extract the second vector information and use the star map to identify the corresponding navigation star vector; Based on the second vector information and the navigation star vector, the optimal inertial frame attitude of the multi-star and optical satellite integrated global positioning device is estimated.

10. The method according to claim 8, characterized in that, The process of processing the first vector information, the second vector information, the position information, and the optimal inertial frame attitude to obtain the positioning information of the multi-star and optical satellite integrated global positioning device includes: Based on the current moment, the optimal inertial frame attitude is transformed to the geocentric coordinate system, and the satellite-multi-star attitude coupling equation for the current moment is constructed.

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