GEO satellite ground control station ranging system error calibration method and device

Abstract

The present invention provides a method and device for calibrating the ranging system error of a GEO satellite ground measurement and control station, which relates to the technical field of satellite measurement and control, including: obtaining multiple groups of theoretical ranging and actual ranging corresponding to a target ground measurement and control station at multiple standard ephemeris points of a GEO satellite to calculate the mean ranging residual of the target ground measurement and control station; determining the relative system error of the target ground measurement and control station based on the mean ranging residual of the target ground measurement and control station and the minimum mean ranging residual of multiple ground measurement and control stations; using the mean ranging residual of the target ground measurement and control station as the respective ranging error inputs, and using the actual ranging of all ground measurement and control stations to perform precise orbit determination on the GEO satellite to resolve the common system error of ranging of all ground measurement and control stations; determining the ranging system error of the target ground measurement and control station based on the relative system error and the common system error of the target ground measurement and control station. The technical problem of poor calibration accuracy in the existing calibration method for the ranging system error of the GEO satellite ground measurement and control station is alleviated.

Description

Technical Field

[0001] The present invention relates to the technical field of satellite measurement and control, and in particular to a method and device for calibrating errors of a ranging system of a GEO satellite ground measurement and control station. Background Art

[0002] The ranging system error is a key factor affecting the precision of GEO satellite orbit determination. Since the synchronous satellite is stationary relative to the ground station, the ranging system error is strongly correlated with the satellite orbit. It is impossible to solve the ranging system error of each station at the same time, and it needs to be calibrated through other external independent data.

[0003] In the prior art, Tianping-1 is mainly used for calibration of the accuracy of ground measurement and control equipment, and provides a space-based calibration method for various antenna systems and measurement and control networks. However, since Tianping-1 is a low-orbit satellite, some GEO ground measurement and control equipment does not have the ability to track low-orbit satellites, and can only use the precise orbits of other geosynchronous satellites GEO in orbit to achieve on-orbit calibration of ground measurement and control equipment. Since the precision of the precise ephemeris of synchronous satellites is lower than that of the satellite-ground differential GNSS system, if the ephemeris of the synchronous satellite is directly used to solve the ranging system error of its ground measurement and control station, it will inevitably cause the problem of low parameter solution accuracy. In summary, the existing method of using the GEO satellite standard ephemeris to calibrate the ranging system error of the ground measurement and control station has the technical problem of poor calibration accuracy. Summary of the invention

[0004] The purpose of the present invention is to provide a method and device for calibrating the error of a distance measurement system of a GEO satellite ground measurement and control station, so as to alleviate the technical problem of poor calibration accuracy of the error of the distance measurement system of the existing GEO satellite calibration ground measurement and control station.

[0005] In a first aspect, the present invention provides a method for calibrating a ranging system error of a GEO satellite ground measurement and control station, comprising: obtaining multiple groups of theoretical ranging and actual ranging corresponding to a target ground measurement and control station at multiple standard ephemeris points of a GEO satellite; wherein the target ground measurement and control station represents any one of the multiple ground measurement and control stations of the GEO satellite; one standard ephemeris point corresponds to a group of theoretical ranging and actual ranging; based on the multiple groups of theoretical ranging and actual ranging, calculating a mean value of ranging residuals of the target ground measurement and control station; based on the mean value of ranging residuals of the target ground measurement and control station and a minimum mean value of ranging residuals among the multiple ground measurement and control stations, determining a relative system error of the target ground measurement and control station; using the relative system error of each of the ground measurement and control stations as their respective ranging error inputs, and using the actual ranging of all the ground measurement and control stations to perform precise orbit determination on the GEO satellite, so as to resolve a common system error of ranging of all the ground measurement and control stations; and determining the ranging system error of the target ground measurement and control station based on the relative system error of the target ground measurement and control station and the common system error.

[0006] In an optional implementation, based on the multiple groups of theoretical ranging and actual ranging, calculating the mean of the ranging residuals of the target ground measurement and control station includes: calculating the difference between the theoretical ranging and the actual ranging of the target group to obtain the ranging residual; wherein the theoretical ranging and the actual ranging of the target group represent any one of the multiple groups of theoretical ranging and the actual ranging; averaging the ranging residuals of the multiple groups of theoretical ranging and the actual ranging to obtain the mean of the ranging residuals of the target ground measurement and control station.

[0007] In an optional implementation, determining the relative system error of the target ground measurement and control station based on the mean of the ranging residuals of the target ground measurement and control station and the minimum mean of the ranging residuals among the multiple ground measurement and control stations includes: calculating the difference between the mean of the ranging residuals of the target ground measurement and control station and the minimum mean of the ranging residuals to obtain a target difference; and using the target difference as the relative system error of the target ground measurement and control station.

[0008] In an optional embodiment, based on the relative system error of the target ground measurement and control station and the common system error, the ranging system error of the target ground measurement and control station is determined, including: calculating the sum of the relative system error of the target ground measurement and control station and the common system error to obtain a target sum value; and using the target sum value as the ranging system error of the target ground measurement and control station.

[0009] In a second aspect, the present invention provides a GEO satellite ground control station ranging system error calibration device, including: an acquisition module, used to obtain multiple sets of theoretical ranging and actual ranging corresponding to a target ground control station at multiple standard ephemeris points of the GEO satellite; wherein the target ground control station represents any one of the multiple ground control stations of the GEO satellite; one standard ephemeris point corresponds to a set of theoretical ranging and actual ranging; a calculation module, used to calculate the mean of the ranging residuals of the target ground control station based on the multiple sets of theoretical ranging and actual ranging; a first determination module, used to calculate the mean of the ranging residuals of the target ground control station based on the multiple sets of theoretical ranging and actual ranging; a first determination module, used to calculate the mean of the ranging residuals of the target ground control station based on the multiple sets of theoretical ranging and actual ranging. The relative system error of the target ground measurement and control station is determined by comparing the mean of the ranging residuals of the target ground measurement and control station with the minimum mean of the ranging residuals among the multiple ground measurement and control stations; an orbit determination and solution module is used to use the relative system error of each of the ground measurement and control stations as the respective ranging error inputs, and use the actual ranging of all the ground measurement and control stations to perform precise orbit determination on the GEO satellite, so as to solve the common system error of the ranging of all the ground measurement and control stations; a second determination module is used to determine the ranging system error of the target ground measurement and control station based on the relative system error of the target ground measurement and control station and the common system error.

[0010] In an optional implementation, the calculation module is specifically used to: calculate the difference between the theoretical ranging and the actual ranging of the target group to obtain the ranging residual; wherein the theoretical ranging and the actual ranging of the target group represent any one of the multiple groups of theoretical ranging and actual ranging; and average the ranging residuals of the multiple groups of theoretical ranging and actual ranging to obtain the mean of the ranging residuals of the target ground measurement and control station.

[0011] In an optional implementation, the first determination module is specifically used to: calculate the difference between the mean of the ranging residuals of the target ground measurement control station and the minimum mean of the ranging residuals to obtain a target difference; and use the target difference as the relative system error of the target ground measurement control station.

[0012] In an optional implementation, the second determination module is specifically used to: calculate the sum of the relative system error of the target ground measurement and control station and the common system error to obtain a target sum value; and use the target sum value as the ranging system error of the target ground measurement and control station.

[0013] In a third aspect, the present invention provides an electronic device, comprising a memory and a processor, wherein the memory stores a computer program that can be run on the processor, and when the processor executes the computer program, the steps of the GEO satellite ground measurement and control station ranging system error calibration method described in any one of the aforementioned embodiments are implemented.

[0014] In a fourth aspect, the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and when the computer instructions are executed by a processor, the GEO satellite ground measurement and control station ranging system error calibration method described in any one of the aforementioned embodiments is implemented.

[0015] The present invention provides a method for calibrating the ranging system error of a GEO satellite ground measurement and control station. The mean of the ranging residual of the target ground measurement and control station is calculated according to multiple groups of theoretical ranging and actual ranging of the target ground measurement and control station, and then the relative system error is determined by horizontal comparison. Next, the relative system error is fixed as the input of the system error of each ground measurement and control station, and the common system error of the ranging of each ground measurement and control station is solved for orbit determination to absorb the influence of the GEO satellite standard ephemeris error. Finally, the common system error and each relative system error are combined to determine the ranging system error of each ground measurement and control station. The method is a compensation strategy for the GEO satellite standard ephemeris error, which weakens the influence of the GEO satellite standard ephemeris error on the ranging system error calibration result, alleviates the technical problem of poor calibration accuracy in the existing method for calibrating the ranging system error of the ground measurement and control station based on the GEO satellite standard ephemeris, and realizes the accurate solution of the ranging system error of each measurement station of the GEO satellite, thereby improving the orbit determination accuracy of the GEO satellite. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 A flow chart of a method for calibrating a ranging system error of a GEO satellite ground control station provided by an embodiment of the present invention;

[0018] Figure 2 A flowchart for calculating the mean of the ranging residuals of a target ground measurement and control station based on multiple sets of theoretical ranging and actual ranging provided by an embodiment of the present invention;

[0019] Figure 3 A functional module diagram of a GEO satellite ground control station ranging system error calibration device provided by an embodiment of the present invention;

[0020] Figure 4 A schematic diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0022] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0023] Some embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0024] Satellite calibration is currently an advanced method for calibrating the error of measurement and control antennas. Its basic principle is that the ground measurement and control station tracks and measures specific satellite targets in space, obtains ranging and angle measurement data (these measurement data are mainly used for precise orbit determination of satellites), and at the same time obtains the precise orbit data of the satellite corresponding to the measurement arc of the measurement and control equipment, compares the measurement data of the measurement and control equipment with the precise orbit data of the satellite, and uses the precise orbit determination method to solve the error coefficient of the ground measurement and control equipment to achieve the purpose of calibrating the equipment. The calibration process has less manual intervention and a high degree of automation, which is more convenient and faster than conventional calibration methods.

[0025] The prerequisite for calibrating ground measurement and control equipment based on satellite ephemeris calibration is to provide high-precision and highly stable position information for ground measurement and control equipment. Low-orbit satellites can obtain centimeter-level orbit determination accuracy through on-orbit GNSS data. Generally, low-orbit satellites carrying high-precision GNSS receivers are selected as calibration satellites, and high-precision standard ephemeris is obtained by processing GNSS data to calibrate ground measurement and control equipment. However, since some ground measurement and control equipment does not yet have the ability to track low-orbit satellites, they can only calibrate ground measurement and control equipment with the help of the precise orbits of other geosynchronous satellites GEO in orbit. Since the precision of the precise ephemeris of synchronous satellites is lower than that of the satellite-ground differential GNSS system, if the ephemeris of the synchronous satellite is directly used to solve the ranging system error of its ground measurement and control station, it will inevitably cause the problem of low parameter solution accuracy. In summary, the existing GEO satellite ground measurement and control station ranging system error calibration method has the technical problem of poor calibration accuracy. In view of this, the embodiment of the present invention provides a GEO satellite ground measurement and control station ranging system error calibration method to alleviate the technical problems mentioned above.

[0026] Embodiment 1

[0027] Figure 1 A flow chart of a method for calibrating a ranging system error of a GEO satellite ground control station provided by an embodiment of the present invention is shown in FIG. Figure 1 As shown, the method specifically comprises the following steps:

[0028] Step S102, obtaining multiple sets of theoretical ranging and actual ranging corresponding to the target ground tracking and control station at multiple standard ephemeris points of the GEO satellite.

[0029] The target ground tracking and control station refers to any one of the multiple ground tracking and control stations of the GEO satellite; and one standard ephemeris point corresponds to a set of theoretical ranging and actual ranging.

[0030] The embodiment of the present invention provides a method for calibrating the distance measurement of a ground tracking and control station by using the precise ephemeris of a GEO satellite as a standard ephemeris, that is, the embodiment of the present invention uses a GEO satellite as a calibration satellite. Before calibration, it is first necessary to obtain multiple sets of theoretical distance measurement and actual distance measurement corresponding to the target ground tracking and control station at multiple standard ephemeris points of the GEO satellite.

[0031] It is known that the satellite standard ephemeris includes multiple ephemeris points. When a GEO satellite is at a standard ephemeris point, the target ground measurement and control station can use the distance formula to calculate the theoretical distance between the two based on the satellite position information corresponding to the ephemeris point and the actual position information of the target ground measurement and control station; and the actual distance can be measured by the ground measurement and control station recording the time of sending a signal to the GEO satellite and the time of receiving the return signal from the GEO satellite. The embodiment of the present invention does not specifically limit the method for obtaining the actual distance, and the user can also choose other methods according to actual needs.

[0032] A standard ephemeris point corresponds to a set of theoretical ranging and actual ranging. In order to avoid data errors caused by occasional anomalies, the embodiment of the present invention needs to refer to the above method to obtain multiple sets of theoretical ranging and actual ranging. That is, each ground control station of the GEO satellite corresponds to multiple sets of theoretical ranging and actual ranging.

[0033] Step S104, based on multiple sets of theoretical ranging and actual ranging, calculate the mean of the ranging residuals of the target ground measurement and control station.

[0034] For the target ground tracking and control station, a ranging residual can be calculated based on a set of theoretical ranging and actual ranging, then the mean ranging residual of the target ground tracking and control station can be calculated based on multiple sets of theoretical ranging and actual ranging. Referring to the above-mentioned method for calculating the mean ranging residual, the mean ranging residual corresponding to each ground tracking and control station of the GEO satellite can be calculated.

[0035] Step S106, determining the relative system error of the target ground measurement and control station based on the mean value of the ranging residuals of the target ground measurement and control station and the minimum mean value of the ranging residuals among the multiple ground measurement and control stations.

[0036] It is known that the influence of the standard ephemeris error of the synchronous satellite on each ground tracking and control station is related to the relative position of the station (that is, the ground tracking and control station) and the satellite, and is relatively unchanged. In other words, there are differences between the ranging system errors of different ground tracking and control stations, and the differences are unchanged. Therefore, the embodiment of the present invention decomposes the ranging system error of each ground tracking and control station into two parts, one part is the same system error owned by all ground tracking and control stations of the GEO satellite, referred to as the common system error; the other part is the difference between the ranging system errors of the stations, referred to as the relative system error.

[0037] Therefore, after calculating the mean value of the ranging residuals corresponding to each ground tracking and control station of the GEO satellite, the minimum value of the mean value of the ranging residuals can be determined by comparing the sizes. In the embodiment of the present invention, the station corresponding to the minimum value of the mean value of the ranging residuals is used as the reference station, and then the relative system errors of the remaining stations relative to the reference station are calculated, specifically using the mean value of the ranging residuals of the target ground tracking and control station and the mean value of the ranging residuals of the reference station for calculation. Obviously, the common system error can be offset by calculating the difference between the mean values ​​of the ranging residuals.

[0038] Step S108, taking the relative system error of each ground tracking and control station as the respective ranging error input, and using the actual ranging of all ground tracking and control stations to perform precise orbit determination on the GEO satellite, so as to solve the common system error of ranging of all ground tracking and control stations.

[0039] Next, the relative system error is used as the input of the ranging error of each measuring station, and the actual ranging of all ground tracking and control stations is used for precise orbit determination. The dynamic model considered for orbit determination includes the 32nd-order JGM3 model for the Earth's gravitational field, the JPL ephemeris, solar pressure, solid tide, ocean tide, etc., and then the common system error of the ranging of each measuring station is solved.

[0040] The precise orbit determination method can be found in: GJB 8979-2017 Relay Satellite System Orbit Determination Calculation Method. Satellite precise orbit determination is also called orbit determination, which is to calculate the orbit that best matches the tracking observation data. Based on the least squares principle, the conditional equations for each observation data are used to solve the improvement amount of each orbit parameter. The orbit is continuously improved through repeated iterations to obtain the satellite orbit that best matches the observation data.

[0041] The orbit determination is carried out in the J2000.0 coordinate system. The basic steps are as follows:

[0042] 1) Data preprocessing: rationality test of observed data, outlier removal, data restoration and time scale correction.

[0043] 2) Use the initial orbit determination result to predict the first moment of the observation data as the initial orbit;

[0044] 3) For each data point, integrate the satellite motion equation, calculate the theoretical observation data, and form the conditional equation. The satellite dynamics model considered during the integration includes the earth's gravitational field, three-body gravity, solar radiation pressure, solid tide and ocean tide, atmospheric damping, etc.

[0045] 4) Normalize the conditional equation, solve the normal equation, and obtain the improvement of the solution variable at the first moment of the observation data. Return to 2) Iterative calculation, use the improved root number as the initial orbit, improve it again, and iterate repeatedly until the orbit converges;

[0046] 5) Predict the orbital elements of the first moment of the observation data to the specified epoch time and output the orbit determination result.

[0047] When performing orbit determination, each station solves a common system error when listing the conditional equations and solves it together with the orbital elements.

[0048] Step S110, determining the ranging system error of the target ground measurement and control station based on the relative system error and the common system error of the target ground measurement and control station.

[0049] The present invention provides a method for calibrating the ranging system error of a GEO satellite ground measurement and control station. The mean of the ranging residual of the target ground measurement and control station is calculated according to multiple groups of theoretical ranging and actual ranging of the target ground measurement and control station, and then the relative system error is determined by horizontal comparison. Next, the relative system error is fixed as the input of the system error of each ground measurement and control station, and the common system error of the ranging of each ground measurement and control station is solved for orbit determination to absorb the influence of the GEO satellite standard ephemeris error. Finally, the common system error and each relative system error are combined to determine the ranging system error of each ground measurement and control station. The method is a compensation strategy for the GEO satellite standard ephemeris error, which weakens the influence of the GEO satellite standard ephemeris error on the ranging system error calibration result, alleviates the technical problem of poor calibration accuracy in the existing method for calibrating the ranging system error of the ground measurement and control station based on the GEO satellite standard ephemeris, and realizes the accurate solution of the ranging system error of each measurement station of the GEO satellite, thereby improving the orbit determination accuracy of the GEO satellite.

[0050] In an optional embodiment, if Figure 2 As shown, the above step S104, based on multiple sets of theoretical ranging and actual ranging, calculates the mean of the ranging residuals of the target ground measurement and control station, and specifically includes the following steps:

[0051] Step S1041, calculating the difference between the theoretical distance measurement and the actual distance measurement of the target group to obtain the distance measurement residual.

[0052] The target group theoretical distance measurement and actual distance measurement represent any one of multiple groups of theoretical distance measurement and actual distance measurement.

[0053] Step S1042, averaging the ranging residuals of multiple groups of theoretical ranging and actual ranging to obtain the mean value of the ranging residual of the target ground measurement and control station.

[0054] In the embodiment of the present invention, the calculation formula of the ranging residual of the mth ground measurement and control station is: Δρ m =ρ om -ρ cm ; where ρ om represents the actual distance measured by the mth ground control station, ρ cm represents the theoretical distance measurement of the mth ground control station, Δρm represents the ranging residual of the mth ground tracking and control station; the calculation formula for the mean of ranging residual is: in, represents the ranging residual corresponding to the i-th ephemeris point of the m-th ground tracking and control station, n represents the number of ephemeris points, represents the mean of the ranging residuals of the mth ground tracking and control station.

[0055] In an optional implementation, the above step S106, based on the mean of the ranging residuals of the target ground measurement and control station and the minimum mean of the ranging residuals among the multiple ground measurement and control stations, determines the relative system error of the target ground measurement and control station, specifically including the following contents:

[0056] The difference between the mean of the ranging residuals of the target ground measurement and control station and the mean of the minimum ranging residuals is calculated to obtain the target difference; the target difference is used as the relative system error of the target ground measurement and control station.

[0057] Based on the above, the calculation of the relative system error of the target ground measurement and control station can be expressed as: in, represents the mean value of the ranging residual of the target ground tracking and control station j, Represents the minimum distance residual mean, Δb j represents the relative system error of the target ground tracking and control station j, and k represents the total number of ground tracking and control stations.

[0058] In an optional implementation, the above step S110, based on the relative system error and the common system error of the target ground measurement and control station, determines the ranging system error of the target ground measurement and control station, specifically includes the following contents:

[0059] The sum of the relative system error and the common system error of the target ground tracking and control station is calculated to obtain a target sum value; the target sum value is used as the ranging system error of the target ground tracking and control station.

[0060] That is, the ranging system error of the target ground control station j is calculated by the following formula: j =Δb0+Δb j ; where Δb0 represents the common system error, Δb j represents the relative system error of the target ground tracking station j, b j Represents the ranging system error of the target ground tracking and control station j.

[0061] In summary, after the precise ephemeris of the GEO calibration satellite is known, the embodiment of the present invention first counts the ranging residuals of each station under the condition of using the ephemeris, selects the station with the smallest mean of ranging residuals as the reference station, compares the difference between the mean of ranging residuals of other stations and the reference station, obtains the relative system error of each station relative to the reference station, fixes the difference as the input of the system error of each station, and solves the common system error of ranging of each station by orbit determination, and finally obtains the ranging system error of each station. The method of the present invention can be regarded as a compensation strategy for the precise ephemeris error of the calibration satellite, which weakens the influence of the ephemeris error of the calibration satellite on the calibration result of the ranging system error, realizes the solution of the ranging system error of the synchronous satellite station, and improves the orbit determination accuracy of the synchronous satellite.

[0062] The method provided in the embodiment of the present invention is verified. Taking a certain GEO satellite as an example, the position error of the standard ephemeris of the GEO satellite is in the order of hundreds of meters. The residuals of each arc segment calculated by the station 1 and the station 2 using the standard ephemeris are shown in Table 1 below:

[0063] Table 1

[0064] Arc Station 1 ranging residual Station 2 ranging residual Mutual Difference of Ranging Residuals 1 -64.23 0.94 -65.17 2 -62.79 3.05 -65.84 3 -57.62 8.73 -66.35 4 -55.42 9.76 -65.18

[0065] Based on the above table, it can be seen that the mean value of the ranging residuals of station 2 is smaller than that of station 1, so station 2 is used as the reference station. The mean value of the mutual difference of the station residuals solved by arc segments is -65.64 meters, that is, the relative system error of station 1 is -65.64 meters, and the relative system error of station 2 is 0 meters. Then, the data of each arc segment is used for precise orbit determination, and the ranging common system error of the two stations is solved to obtain 1.44 meters. Therefore, the ranging system error of station 1 is -64.20 meters, and the ranging system error of station 2 is 1.44 meters.

[0066] Table 2 below shows the orbit determination results of the ranging system error calibrated by the method provided by the embodiment of the present invention. Obviously, the position error of the orbit determination using the ranging system error calibrated by the method provided by the embodiment of the present invention is less than 120 meters compared with the standard ephemeris.

[0067] Table 2

[0068]

[0069]

[0070] Embodiment 2

[0071] An embodiment of the present invention also provides a GEO satellite ground measurement and control station ranging system error calibration device, which is mainly used to execute the GEO satellite ground measurement and control station ranging system error calibration method provided in the above-mentioned embodiment 1. The GEO satellite ground measurement and control station ranging system error calibration device provided in the embodiment of the present invention is specifically introduced below.

[0072] Figure 3 : is a functional module diagram of a GEO satellite ground measurement and control station ranging system error calibration device provided by an embodiment of the present invention, such as Figure 3 As shown, the device mainly includes: an acquisition module 10, a calculation module 20, a first determination module 30, a trajectory determination and solution module 40, and a second determination module 50, wherein:

[0073] The acquisition module is used to obtain multiple sets of theoretical ranging and actual ranging corresponding to the target ground control station of the GEO satellite at multiple standard ephemeris points; wherein the target ground control station represents any one of the multiple ground control stations of the GEO satellite; and one standard ephemeris point corresponds to a set of theoretical ranging and actual ranging.

[0074] The calculation module is used to calculate the mean of the ranging residuals of the target ground measurement and control station based on multiple sets of theoretical ranging and actual ranging.

[0075] The first determination module is used to determine the relative system error of the target ground measurement and control station based on the mean value of the ranging residuals of the target ground measurement and control station and the minimum mean value of the ranging residuals among multiple ground measurement and control stations.

[0076] The orbit determination module is used to take the relative system error of each ground tracking and control station as the respective ranging error input, and use the actual ranging of all ground tracking and control stations to perform precise orbit determination on the GEO satellite, so as to solve the common system error of ranging of all ground tracking and control stations.

[0077] The second determination module is used to determine the ranging system error of the target ground measurement and control station based on the relative system error and the common system error of the target ground measurement and control station.

[0078] The embodiment of the present invention provides a GEO satellite ground control station ranging system error calibration device, which calculates the mean of the ranging residual of the target ground control station according to multiple groups of theoretical ranging and actual ranging of the target ground control station, and then determines its relative system error through horizontal comparison, and then fixes the relative system error as the input of the system error of each ground control station, and solves the common system error of the ranging of each ground control station to absorb the influence of the GEO satellite standard ephemeris error, and finally combines the common system error and each relative system error to determine the ranging system error of each ground control station. The device is a compensation strategy for the GEO satellite standard ephemeris error, weakens the influence of the GEO satellite standard ephemeris error on the ranging system error calibration result, alleviates the technical problem of poor calibration accuracy in the existing method of calibrating the ground control station ranging system error based on the GEO satellite standard ephemeris, and realizes the accurate solution of the ranging system error of each GEO satellite station, thereby improving the GEO satellite orbit determination accuracy.

[0079] Optionally, the computing module is specifically used for:

[0080] The difference between the theoretical distance measurement and the actual distance measurement of the target group is calculated to obtain the distance measurement residual; wherein the theoretical distance measurement and the actual distance measurement of the target group represent any one of multiple groups of theoretical distance measurements and actual distance measurements.

[0081] The ranging residuals of multiple groups of theoretical ranging and actual ranging are averaged to obtain the mean ranging residual of the target ground measurement and control station.

[0082] Optionally, the first determining module is specifically configured to:

[0083] Calculate the difference between the mean of the ranging residuals of the target ground measurement and control station and the mean of the minimum ranging residuals to obtain the target difference.

[0084] The target difference is taken as the relative system error of the target ground tracking and control station.

[0085] Optionally, the second determining module is specifically configured to:

[0086] Calculate the sum of the relative system error and the common system error of the target ground tracking and control station to obtain the target sum value.

[0087] The target and value are taken as the ranging system error of the target ground tracking and control station.

[0088] Embodiment 3

[0089] See also Figure 4 An embodiment of the present invention provides an electronic device, which includes: a processor 60, a memory 61, a bus 62 and a communication interface 63, wherein the processor 60, the communication interface 63 and the memory 61 are connected via the bus 62; the processor 60 is used to execute an executable module stored in the memory 61, such as a computer program.

[0090] The memory 61 may include a high-speed random access memory (RAM), and may also include a non-volatile memory, such as at least one disk memory. The communication connection between the system network element and at least one other network element is realized through at least one communication interface 63 (which may be wired or wireless), and the Internet, wide area network, local area network, metropolitan area network, etc. may be used.

[0091] The bus 62 may be an ISA bus, a PCI bus, or an EISA bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 4 Only one bidirectional arrow is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0092] Among them, the memory 61 is used to store programs, and the processor 60 executes the program after receiving the execution instruction. The method executed by the device defined by the process disclosed in any embodiment of the above-mentioned embodiment of the present invention can be applied to the processor 60 or implemented by the processor 60.

[0093] The processor 60 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the hardware integrated logic circuit or software instructions in the processor 60. The above processor 60 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present invention can be implemented or executed. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor. The steps of the method disclosed in the embodiments of the present invention can be directly embodied as a hardware decoding processor to be executed, or the hardware and software modules in the decoding processor can be executed. The software module can be located in a mature storage medium in the field such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory 61, and the processor 60 reads the information in the memory 61 and completes the steps of the above method in combination with its hardware.

[0094] A computer program product of a method and device for calibrating the error of a GEO satellite ground tracking and control station ranging system provided in an embodiment of the present invention includes a computer-readable storage medium storing a non-volatile program code executable by a processor. The instructions included in the program code can be used to execute the method described in the previous method embodiment. The specific implementation can be found in the method embodiment, which will not be repeated here.

[0095] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0096] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0097] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0098] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the product of the invention is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0099] In addition, the terms "horizontal", "vertical", "overhanging" and the like do not mean that the components are required to be absolutely horizontal or overhanging, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0100] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0101] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for calibrating the error of a GEO satellite ground control station ranging system, characterized in that: include: Acquire multiple sets of theoretical ranging and actual ranging corresponding to a target ground control station at multiple standard ephemeris points of a GEO satellite; wherein the target ground control station represents any one of the multiple ground control stations of the GEO satellite; and one standard ephemeris point corresponds to a set of theoretical ranging and actual ranging; Based on the multiple sets of theoretical ranging and actual ranging, calculating the mean of the ranging residuals of the target ground measurement and control station; Determining a relative system error of the target ground measurement and control station based on a mean value of the ranging residuals of the target ground measurement and control station and a minimum mean value of the ranging residuals among the multiple ground measurement and control stations; The relative systematic error of each of the ground measurement and control stations is used as the respective ranging error input, and the actual ranging of all the ground measurement and control stations is used to perform precise orbit determination on the GEO satellite to resolve the common systematic error of the ranging of all the ground measurement and control stations; Based on the relative system error of the target ground measurement and control station and the common system error, the ranging system error of the target ground measurement and control station is determined.

2. The GEO satellite ground control station ranging system error calibration method according to claim 1, characterized in that: Calculating the mean of the ranging residuals of the target ground measurement and control station based on the multiple sets of theoretical ranging and actual ranging, including: Calculate the difference between the target group theoretical distance measurement and the actual distance measurement to obtain the distance measurement residual; wherein the target group theoretical distance measurement and the actual distance measurement represent any one of the multiple groups of theoretical distance measurements and the actual distance measurements; The ranging residuals of multiple groups of theoretical ranging and actual ranging are averaged to obtain the ranging residual mean of the target ground measurement and control station.

3. The GEO satellite ground control station ranging system error calibration method according to claim 1, characterized in that: Determining a relative system error of the target ground measurement and control station based on a mean value of the ranging residuals of the target ground measurement and control station and a minimum mean value of the ranging residuals among the multiple ground measurement and control stations includes: Calculate the difference between the mean of the ranging residuals of the target ground measurement and control station and the mean of the minimum ranging residuals to obtain a target difference; The target difference is used as the relative system error of the target ground measurement and control station.

4. The GEO satellite ground control station ranging system error calibration method according to claim 1, characterized in that: Determining the ranging system error of the target ground measurement and control station based on the relative system error of the target ground measurement and control station and the common system error, comprising: Calculating the sum of the relative system error of the target ground measurement and control station and the common system error to obtain a target sum value; The target and value are used as the ranging system error of the target ground measurement and control station.

5. A GEO satellite ground control station ranging system error calibration device, characterized in that: include: An acquisition module is used to acquire multiple sets of theoretical ranging and actual ranging corresponding to a target ground control station of a GEO satellite at multiple standard ephemeris points; wherein the target ground control station represents any one of the multiple ground control stations of the GEO satellite; and one standard ephemeris point corresponds to a set of theoretical ranging and actual ranging; A calculation module, used for calculating the mean of the ranging residuals of the target ground measurement and control station based on the multiple sets of theoretical ranging and actual ranging; A first determination module is used to determine the relative system error of the target ground measurement and control station based on the mean value of the ranging residuals of the target ground measurement and control station and the minimum mean value of the ranging residuals among the multiple ground measurement and control stations; An orbit determination and solution module is used to use the relative system error of each ground measurement and control station as the respective ranging error input, and use the actual ranging of all ground measurement and control stations to perform precise orbit determination on the GEO satellite, so as to solve the common system error of ranging of all ground measurement and control stations; The second determination module is used to determine the ranging system error of the target ground measurement and control station based on the relative system error of the target ground measurement and control station and the common system error.

6. The GEO satellite ground control station ranging system error calibration device according to claim 5, characterized in that: The computing module is specifically used for: Calculate the difference between the target group theoretical distance measurement and the actual distance measurement to obtain the distance measurement residual; wherein the target group theoretical distance measurement and the actual distance measurement represent any one of the multiple groups of theoretical distance measurements and the actual distance measurements; The ranging residuals of multiple groups of theoretical ranging and actual ranging are averaged to obtain the ranging residual mean of the target ground measurement and control station.

7. The GEO satellite ground control station ranging system error calibration device according to claim 5, characterized in that: The first determination module is specifically used for: Calculate the difference between the mean of the ranging residuals of the target ground measurement and control station and the mean of the minimum ranging residuals to obtain a target difference; The target difference is used as the relative system error of the target ground measurement and control station.

8. The GEO satellite ground control station ranging system error calibration device according to claim 5, characterized in that: The second determination module is specifically used for: Calculating the sum of the relative system error of the target ground measurement and control station and the common system error to obtain a target sum value; The target and value are used as the ranging system error of the target ground measurement and control station.

9. An electronic device comprising a memory and a processor, wherein the memory stores a computer program that can be run on the processor, wherein: When the processor executes the computer program, the steps of the GEO satellite ground measurement and control station ranging system error calibration method described in any one of claims 1 to 4 are implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and when the computer instructions are executed by the processor, the GEO satellite ground measurement and control station ranging system error calibration method according to any one of claims 1 to 4 is implemented.

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