Satellite measurement and control data transmission arc automatic calculation method, device, equipment and medium

Abstract

The present invention provides a method, device, equipment and medium for automatically calculating arc segments of satellite measurement and control data transmission, which relates to the field of aerospace technology, including: obtaining the current time point, forecast duration information, current satellite orbit information and configuration information corresponding to each ground station; performing orbit recursion based on the current time point, the forecast duration information and the current satellite orbit information to generate a target position sequence of the satellite in the local coordinate system corresponding to each ground station; determining the visibility of the satellite relative to each ground station according to the configuration information and the target position sequence to form an effective in-station arc segment under single-station requirements or multi-station requirements. The present invention can meet the work requirements of repeated iterative design in the research and development stage and autonomous calculation of in-station arc segments in the on-orbit stage.

Description

Technical Field

[0001] The present invention relates to the field of aerospace technology, and in particular to a method, device, equipment and medium for automatically calculating a satellite measurement and control data transmission arc segment. Background Art

[0002] During both the satellite mission development and the actual in-orbit stage, it is necessary to calculate the time period when the satellite enters and leaves the visible range of the ground station in order to provide data support for the satellite's measurement, control, data transmission and other tasks.

[0003] For the research and development stage, the traditional approach is to manually set the satellite orbit in the orbit calculation software, establish a ground station model, calculate the time points when the satellite enters the visible range of the ground station (hereinafter referred to as "entering the station") and leaves the visible range of the ground station (hereinafter referred to as "exiting the station"), and obtain the forecast of the time period (i.e., "arc section within the station") that can be measured and controlled or data transmitted. This approach is mature, but the orbit calculation software has many settings, which makes it difficult for non-orbit professional technicians to get started, and there are many manual operations, which are prone to erroneous results. Therefore, it is difficult to meet the requirements of repeated iterative design in the research and development stage; in addition, for the on-orbit stage, in tasks where GPS (Global Positioning System) is not configured or GPS is configured but still hopes to strengthen redundant design, it is still necessary to use the on-board recursive orbit method to perform orbit prediction, coordinate conversion and visibility judgment to realize autonomous calculation of the arc section within the station, but the existing technology cannot meet this demand well. Summary of the invention

[0004] In view of this, the purpose of the present invention is to provide a method, device, equipment and medium for automatic calculation of satellite measurement and control data transmission arc segments, which can meet the work requirements of repeated iterative design in the research and development stage and autonomous calculation of in-station arc segments in the on-orbit stage.

[0005] In a first aspect, an embodiment of the present invention provides a method for automatically calculating a satellite measurement and control data transmission arc segment, comprising:

[0006] Obtain the current time point, forecast duration information, satellite current orbit information and configuration information corresponding to each ground station;

[0007] Performing orbit recursion based on the current time point, the forecast duration information and the current orbit information of the satellite to generate a target position sequence of the satellite in the local coordinate system corresponding to each of the ground stations;

[0008] The visibility of the satellite relative to each of the ground stations is determined according to the configuration information and the target position sequence to form a valid intra-station arc under a single-station requirement or a multi-station requirement.

[0009] In one embodiment, the step of performing orbit recursion based on the current time point, the forecast duration information and the current orbit information of the satellite to generate a target position sequence of the satellite in the local coordinate system corresponding to each of the ground stations includes:

[0010] Determining a time interval to be predicted based on the current time point and the forecast duration information;

[0011] For any time point within the time interval to be predicted, the target orbital elements corresponding to the satellite at the time point are determined based on the current orbital information of the satellite by combining the perturbation analytical model;

[0012] The target orbit elements corresponding to the satellite at each time point are converted into satellite position information of the satellite in an inertial coordinate system to obtain an inertial position sequence;

[0013] The inertial position sequence is subjected to coordinate system transformation to obtain a target position sequence of the satellite in a local coordinate system corresponding to each of the ground stations.

[0014] In one embodiment, the combined perturbation analytical model includes J 4 The perturbation sub-model and the atmospheric drag perturbation sub-model are provided; and the step of determining the target orbital elements corresponding to the satellite at the time point based on the current orbital information of the satellite by combining the perturbation analytical model comprises:

[0015] By J 4 The perturbation sub-model determines the initial orbital elements corresponding to the satellite at the time point based on the current orbital information of the satellite; wherein the initial orbital elements include the orbital semi-major axis, eccentricity, inclination, right ascension of ascending node, argument of perigee and mean anomaly;

[0016] The orbit semi-major axis and the mean anomaly are compensated by using an atmospheric drag perturbation sub-model to obtain a compensated orbit semi-major axis and a compensated mean anomaly;

[0017] The compensated orbit semi-major axis, the compensated mean anomaly, the eccentricity, the inclination, the right ascension of the ascending node and the argument of perigee are used as the target orbit elements corresponding to the satellite at the time point.

[0018] In one embodiment, the step of performing coordinate system conversion on the inertial position sequence to obtain a target position sequence of the satellite in a local coordinate system corresponding to each of the ground stations includes:

[0019] The inertial position sequence is sequentially converted from the inertial coordinate system to the earth-fixed coordinate system, and then converted from the earth-fixed coordinate system to the local coordinate system corresponding to each of the ground stations, so as to obtain the target position sequence of the satellite in the local coordinate system corresponding to each of the ground stations.

[0020] In one embodiment, the configuration information includes the latitude and longitude positions corresponding to the ground station; the step of sequentially converting the inertial position sequence from the inertial coordinate system to an earth-fixed coordinate system, and then converting from the earth-fixed coordinate system to a local coordinate system corresponding to each of the ground stations to obtain a target position sequence of the satellite in the local coordinate system corresponding to each of the ground stations includes:

[0021] The inertial position sequence is converted from the inertial coordinate system to the earth-fixed coordinate system through a conversion matrix between the inertial coordinate system and the earth-fixed coordinate system to obtain a converted position sequence;

[0022] And, converting the latitude and longitude positions corresponding to the ground station into the ground station position information in the earth-fixed coordinate system;

[0023] Determine a position sequence of the satellite and the ground station in the earth-fixed coordinate system based on the converted position sequence and the ground station position information in the earth-fixed coordinate system;

[0024] The position sequence is converted into a target position sequence of the satellite in the local coordinate system corresponding to the ground station through a conversion matrix between the earth-fixed coordinate system and the local coordinate system corresponding to the ground station.

[0025] In one embodiment, the configuration information includes a visible range elevation angle constraint; and the step of determining the visibility of the satellite relative to each of the ground stations according to the configuration information and the target position sequence to form a valid intra-station arc under a single-station requirement or a multi-station requirement includes:

[0026] determining, based on the target position sequence, an elevation angle of the satellite relative to the ground station;

[0027] If the elevation angle is greater than the visible range elevation angle constraint, determining that the satellite is visible relative to the ground station to form a valid intra-station arc under a single-station requirement;

[0028] And / or, determining a union or intersection of the valid intra-station arc segments under the single-station requirements to form a valid intra-station arc segment under the multi-station requirements.

[0029] In one embodiment, the method further comprises:

[0030] The valid intra-station arc segments are subjected to data post-processing to determine one or more of a start time, an end time and an orbit circle number corresponding to each valid intra-station arc segment.

[0031] In a second aspect, an embodiment of the present invention further provides a device for automatically calculating arc segments of satellite measurement and control data transmission, comprising:

[0032] The information acquisition module is used to obtain the current time point, forecast duration information, satellite current orbit information and configuration information corresponding to each ground station;

[0033] An orbit recursion module, used to perform orbit recursion based on the current time point, the forecast duration information and the current orbit information of the satellite, so as to generate a target position sequence of the satellite in the local coordinate system corresponding to each of the ground stations;

[0034] The visibility determination module is used to determine the visibility of the satellite relative to each of the ground stations according to the configuration information and the target position sequence, so as to form a valid intra-station arc under a single-station requirement or a multi-station requirement.

[0035] In a third aspect, an embodiment of the present invention further provides an electronic device, comprising a processor and a memory, wherein the memory stores computer-executable instructions that can be executed by the processor, and the processor executes the computer-executable instructions to implement any one of the methods provided in the first aspect.

[0036] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions. When the computer-executable instructions are called and executed by a processor, the computer-executable instructions prompt the processor to implement any one of the methods provided in the first aspect.

[0037] An embodiment of the present invention provides a method, device, equipment and medium for automatically calculating a satellite measurement and control data transmission arc segment. First, the current time point, forecast duration information, current satellite orbit information and configuration information corresponding to each ground station are obtained; then orbit recursion is performed based on the current time point, the forecast duration information and the current satellite orbit information to generate a target position sequence of the satellite in the local coordinate system corresponding to each ground station; finally, based on the configuration information and the target position sequence, the visibility of the satellite relative to each ground station is determined to form a valid intra-station arc segment under single-station requirements or multi-station requirements. The above method provides a complete calculation method for the measurement and control data transmission arc segment, which only takes the current time point, forecast duration information, current satellite orbit information and the configuration information corresponding to each ground station as input, and performs orbit prediction, coordinate conversion and visibility judgment to realize the autonomous calculation of the effective in-station arc segment. The embodiment of the present invention solves the problem that traditional ground calculations must be performed manually by professionals, and can significantly improve data credibility and work efficiency to meet the work requirements of repeated iterative design in the research and development stage; at the same time, the in-station arc segment forecast on the satellite can be independent of the hardware support of positioning systems such as GPS, which is conducive to reducing the satellite platform design requirements and improving the overall satellite design autonomy and redundancy to meet the work requirements of autonomous calculation of in-station arc segments in the on-orbit stage.

[0038] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention are realized and obtained by the structures particularly pointed out in the description, claims and drawings.

[0039] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] 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.

[0041] Figure 1 A schematic diagram of a flow chart of a method for automatically calculating arc segments of satellite measurement and control data transmission provided by an embodiment of the present invention;

[0042] Figure 2 A schematic diagram of the elevation angle of a ground station and the elevation angle of a satellite in a local coordinate system provided by an embodiment of the present invention;

[0043] Figure 3 A schematic diagram of the overall process of a method for automatically calculating arc segments of satellite measurement and control data transmission provided by an embodiment of the present invention;

[0044] Figure 4 A schematic diagram of the structure of a satellite measurement and control data transmission arc segment automatic calculation device provided by an embodiment of the present invention;

[0045] Figure 5 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution of the present invention will be clearly and completely described in combination with the embodiments below. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. 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.

[0047] At present, traditional technologies are difficult to meet the needs of repeated iterative design in the research and development stage. In addition, for the on-orbit stage, in tasks where GPS is not configured or GPS is configured but redundancy design is still desired, orbit prediction, coordinate conversion and visibility judgment are still required through on-board recursive orbit to realize autonomous calculation of the arc segment within the station. Aiming at the above needs, the present invention provides a set of special calculation methods to output the time series corresponding to the arc segment within the station.

[0048] Based on this, the present invention provides a method, device, equipment and medium for automatic calculation of satellite measurement and control data transmission arc segments, which can meet the work requirements of repeated iterative design in the research and development stage and autonomous calculation of arc segments within the station in the on-orbit stage.

[0049] To facilitate understanding of this embodiment, firstly, a method for automatically calculating the arc segment of a satellite measurement and control data transmission disclosed in an embodiment of the present invention is described in detail. Figure 1 The flowchart of a method for automatically calculating the arc segment of a satellite measurement and control data transmission is shown in FIG. 1 , and the method mainly includes the following steps S102 to S106:

[0050] Step S102, obtaining the current time point, forecast duration information, satellite current orbit information and configuration information corresponding to each ground station.

[0051] The current orbit information of the satellite may be the orbital element number corresponding to the satellite at the current time point, and the configuration information may include location information (latitude and longitude) and / or visible range elevation angle constraint.

[0052] Step S104, orbit recursion is performed based on the current time point, the forecast duration information and the current orbit information of the satellite to generate a target position sequence of the satellite in the local coordinate system corresponding to each ground station.

[0053] In one example, the current time point is taken as the initial time point, and the final time point is reached after the forecast duration. The interval between the initial time point and the final time point is also the time interval to be forecasted. The target position sequence can be understood as the position information (latitude and longitude) corresponding to the satellite at any time point in the time interval to be forecasted. In one implementation, J 4 +The combined perturbation analytical model of the atmosphere performs orbit recursion based on the current orbital information of the satellite to obtain the inertial position sequence of the satellite in the inertial coordinate system within the time interval to be predicted. A series of coordinate transformations are performed on the inertial position sequence to obtain the target position sequence of the satellite in the local coordinate system corresponding to each ground station.

[0054] Step S106, determining the visibility of the satellite relative to each ground station according to the configuration information and the target position sequence, so as to form a valid intra-station arc under a single-station requirement or a multi-station requirement.

[0055] In one embodiment, for each ground station, the elevation angle of the satellite relative to the ground station at each time point can be determined through the target position sequence of the satellite in the local coordinate system corresponding to the ground station. By comparing the elevation angle with the elevation angle constraint of the visible range of the ground station, it is determined whether the satellite is visible relative to the ground station, as well as the start time and end time of the satellite's visibility relative to the ground station, thereby obtaining the valid in-station arc segment under the single-station requirement; in addition, by finding the intersection or union of the valid in-station arc segments corresponding to multiple ground stations, the valid in-station arc segment under the multi-station requirement can be obtained.

[0056] The above method only uses the current time point, forecast duration information, current satellite orbit information and the configuration information corresponding to each ground station as input, and performs orbit forecasting, coordinate conversion and visibility judgment to realize autonomous calculation of valid in-station arc segments. The embodiment of the present invention solves the problem that traditional ground calculations must be performed manually by professionals, and can significantly improve data credibility and work efficiency to meet the work requirements of repeated iterative design in the research and development stage; at the same time, the in-station arc segment forecast on the satellite can be independent of the hardware support of positioning systems such as GPS, which is conducive to reducing satellite platform design requirements and improving the overall satellite design autonomy and redundancy to meet the work requirements of autonomous calculation of in-station arc segments in the on-orbit stage.

[0057] For ease of understanding, an embodiment of the present invention provides a specific implementation of a method for automatically calculating arc segments of satellite measurement and control data transmission.

[0058] For the aforementioned step S102, the information obtained includes: the current time point, forecast duration information, satellite current orbit information and configuration information corresponding to each ground station. The input form of the satellite current orbit is the orbital element number; the forecast duration unit is seconds.

[0059] For the aforementioned step S104, the embodiment of the present invention provides an implementation method of performing orbit recursion based on the current time point, the forecast duration information and the current orbit information of the satellite to generate a target position sequence of the satellite in the local coordinate system corresponding to each ground station, see the following steps 1 to 4:

[0060] Step 1: Determine the time interval to be predicted based on the current time point and the forecast duration information. In one example, the current time point is taken as the initial time, and the forecast duration reaches the final time. The interval between the initial time and the final time is also the time interval to be predicted.

[0061] Step 2: For any time point in the forecast time interval, the target orbital elements corresponding to the satellite at that time point are determined based on the current satellite orbit information by combining the perturbation analysis model. 4 Perturbation submodel and atmospheric resistance perturbation submodel. In the embodiment of the present invention, the mapping J is used4 Combined with the linear attenuation of the semi-major axis of the orbit, the J 4 After recursion, the attenuation of the semi-major axis and the resulting phase drift are compensated.

[0062] In the specific implementation, please refer to the following steps 2.1 to 2.3:

[0063] Step 2.1, through J 4 The perturbation submodel determines the initial orbital elements corresponding to the satellite at that time point based on the current orbital information of the satellite. The initial orbital elements include the orbital semi-major axis, eccentricity, inclination, right ascension of the ascending node, argument of perigee and mean anomaly.

[0064] In one example, the argument of perigee ω 0 、Inclination angle i 0 , right ascension of ascending node Ω 0 and eccentricity e 0 These four orbital elements are based on the standard J 4 The perturbation sub-model is recursively deduced, which will not be described in detail in the embodiment of the present invention.

[0065] Step 2.2, through the atmospheric drag perturbation sub-model, the orbit semi-major axis and the mean anomaly are compensated to obtain the compensated orbit semi-major axis and the compensated mean anomaly.

[0066] The calculation of the semi-major axis and the horizontal anomaly in compensation is carried out as follows:

[0067]

[0068] In the formula, and J 4 The recursive values ​​of the orbital semi-major axis and mean anomaly under non-spherical perturbation and atmospheric drag, that is, the orbital semi-major axis and mean anomaly after compensation; t is the time, that is, the time elapsed from the initial time, a 0 ,e 0 ,i 0 ,Ω 0 ,ω 0 ,M 0 is the number of orbital elements at the initial moment; mapping J 4 The quasi-square root recursion method is used; a2 is the second-order quantity of the semi-major axis, which is substituted with the orbital height decay rate; n is the orbital angular velocity, and the equation b 2 a 0 3 =μ determined (μ is the gravitational constant of the earth).

[0069] Step 2.3, the compensated orbit semi-major axis, compensated mean anomaly, eccentricity, inclination, right ascension of ascending node and argument of perigee are used as the target orbit elements corresponding to the satellite at that time point.

[0070] After recursion, the number of target orbital elements corresponding to any time t between the initial time and the final time is obtained, recorded as a t ,e t ,i t ,Ω t ,ω t ,M t .

[0071] The orbit recursion provided by the embodiment of the present invention uses the combined perturbation analytical model of J4+atmosphere. Different from numerical recursion and general J2 or J4 analytical recursion, this recursion model ensures the calculation accuracy while eliminating the trouble of non-orbit professional users inputting orbit instantaneous roots.

[0072] Step 3, converting the target orbit elements corresponding to the satellite at each time point into the satellite position information in the inertial coordinate system to obtain an inertial position sequence;

[0073] In one example, the inertial coordinate system is referred to as the inertial system, and the inertial system is J2000; the inertial position sequence is expressed in rectangular coordinate form. Optionally, the target orbital element a can be converted to t ,e t ,i t ,Ω t ,ω t ,M t Convert to satellite position information in the inertial coordinate system

[0074] Step 4: perform coordinate system conversion on the inertial position sequence to obtain the target position sequence of the satellite in the local coordinate system corresponding to each ground station. The coordinate conversion process is completed in batch mode for each satellite position point in the recursively obtained time series.

[0075] In one example, the inertial position sequence is converted from the inertial coordinate system to the earth-fixed coordinate system, and then converted from the earth-fixed coordinate system to the local coordinate system corresponding to each ground station to obtain the target position sequence of the satellite in the local coordinate system corresponding to each ground station.

[0076] Among them, the earth-fixed coordinate system is referred to as the earth-fixed system, and the earth-fixed system is WGS84; the earth's local coordinate system is the north-east-down coordinate system, with the X-axis pointing north along the local horizontal plane, the Y-axis pointing east along the local horizontal plane, and the Z-axis pointing downward along the local plumb plane.

[0077] That is, the coordinate transformation involves the following transformation processes: (1) The inertial coordinate system J2000 is transformed into the earth-fixed coordinate system WGS84. This is done in accordance with the IAU1980 specification, where the polar motion data is automatically obtained by querying the corresponding public polar motion data table based on the epoch date. (2) The earth-fixed system is transformed into the local coordinate system. The "northeast down" coordinate system is defined, that is, the X-axis points to the north along the local horizontal plane, the Y-axis points to the east along the local horizontal plane, and the Z-axis points down along the local plumb plane. The transformation matrix M of the earth-fixed system local coordinate system is le It is expressed by the following formula.

[0078] Furthermore, the configuration information includes the latitude and longitude positions corresponding to the ground station. Based on this, the embodiment of the present invention provides a specific implementation of coordinate conversion, and the coordinate conversion can be performed according to the following steps 4.1 to 4.3:

[0079] Step 4.1, transform the inertial position sequence from the inertial coordinate system to the earth-fixed coordinate system through the transformation matrix between the inertial coordinate system and the earth-fixed coordinate system to obtain the transformed position sequence. The transformed position sequence includes the position of the satellite in the earth-fixed rectangular coordinate system corresponding to time t

[0080] In one example, The position of the satellite in the inertial system at time t is Obtained by coordinate transformation. Note:

[0081]

[0082] The transformation matrix [HG] from the inertial system to the earth-fixed system WGS84 is obtained by the following method:

[0083] [HG]=[EP]·[Er]·[NR]·[PR];

[0084] In the above formula, [PR] is the Earth precession matrix, [NR] is the Earth nutation matrix, [ER] is the Earth rotation matrix, and [EP] is the Earth polar motion matrix.

[0085] [PR]=R z (-z A )R y (θ A )R z (-ζ A );

[0086] [NR]=R x (-Δε)R y (Δθ)R z (-Δμ);

[0087] [ER]=R z (SG );

[0088] Among them, R x (·),R y (·),R z (·) are the coordinate rotation matrices around the x-axis, y-axis, and z-axis respectively.

[0089] z A ,θ A ,ζ A is the mean equatorial precession angle, Δμ, Δθ, Δε are the right ascension nutation, declination nutation and intersection nutation respectively. All six are calculated from the TDT time corresponding to time t according to the IAU1980 standard, and the process is omitted.

[0090] is the Greenwich mean sidereal time, S G The expression is as follows:

[0091] S G =18.697374558+879000.051336907T+0 s .093104T 2 ;

[0092] in, JD(UT1) is the Julian day expression corresponding to UT1 time.

[0093] The polar shift matrix (EP) can be expressed as follows:

[0094] (EP)=R y (-x p )R x (-y p );

[0095] where x p 、x p are the two components of polar motion (their magnitude does not exceed 0".5), which can be obtained by looking up the table according to the date. Ignoring the second-order quantity of polar motion, the above formula can be simplified to:

[0096]

[0097] Step 4.2, convert the latitude and longitude positions corresponding to the ground station into the ground station position information in the earth fixed coordinate system. The latitude and longitude coordinates of the ground station are expressed in geographic latitude rather than geocentric latitude. At the same time, the numerical coordinate conversion eliminates the approximation involved in geometric analysis calculations, ensuring the calculation accuracy.

[0098] In one example, is the position of the ground station in the earth-fixed rectangular coordinate system corresponding to time t, Calculated by the following formula:

[0099]

[0100]

[0101] in, is the radius of curvature of the local y-o-y circle, the major radius of the Earth a e =6378.137km, the first eccentricity square e2=0.00669437999013; H is the geographical elevation of the ground station, where λ is the longitude of the ground station and φ is the latitude of the ground station.

[0102] The transformation matrix M from the ground-fixed system to the local coordinate system le It is expressed by the following formula:

[0103]

[0104] Step 4.3, based on the converted position sequence and the ground station position information in the earth-fixed coordinate system, determine the position sequence of the satellite and the ground station in the earth-fixed coordinate system, and convert the position sequence into the target position sequence of the satellite in the local coordinate system corresponding to the ground station through the transformation matrix between the earth-fixed coordinate system and the local coordinate system corresponding to the ground station.

[0105] In one example, for the time series in the previous step and each time t, the corresponding position in the local coordinate system is It is expressed by the following formula:

[0106]

[0107] in, is the position of the satellite in the local coordinate system corresponding to time t, is the satellite position in the earth-fixed rectangular coordinate system corresponding to time t, is the position of the ground station in the earth-fixed rectangular coordinate system corresponding to time t.

[0108] For the aforementioned step S106, the embodiment of the present invention provides an implementation method for determining the visibility of the satellite relative to each ground station according to the configuration information and the target position sequence to form a valid intra-station arc segment under a single-station requirement or a multi-station requirement, see the following steps a to c:

[0109] Step a: Determine the elevation angle of the satellite relative to the ground station based on the target position sequence.

[0110] In one example, the elevation angle ∈ of the satellite in the local coordinate system of the ground station can be calculated in sequence based on the satellite position and ground station position information corresponding to all times. Specifically, the elevation angle ∈ can be calculated as follows:

[0111]

[0112] In the formula, is the position of the satellite in the local coordinate system of the ground station. The component in the z direction of the local coordinate system.

[0113] Step b: If the elevation angle is greater than the visible range elevation angle constraint, determine that the satellite is visible relative to the ground station to form a valid intra-station arc under the single-station requirement.

[0114] In one example, see Figure 2 A schematic diagram of the elevation angle of a ground station and the elevation angle of a satellite in a local coordinate system is shown. When the satellite elevation angle ∈ is greater than the elevation angle constraint ∈ of the visible range of the ground station min When , the station is considered to be visible to the satellite, otherwise it is invisible. For example, visible is represented by 1, and invisible is represented by 0. When the requirement is a single station, if one of the multiple stations is visible to the satellite, it is considered to be visible as a whole; when the requirement is dual-station visibility, if two stations are visible to the satellite, it is considered to be visible as a whole; and so on.

[0115] Step c: determining the union or intersection of multiple valid intra-station arcs under single-station requirements to form valid intra-station arcs under multi-station requirements.

[0116] In specific implementation, the visibility results are calculated independently for multiple measuring stations. The union or intersection of the visibility of each station is taken as needed to reflect the valid arc segments within the station under the requirements of a single station or multiple stations.

[0117] Furthermore, after determining the valid in-station arc segments, data post-processing can be performed on the valid in-station arc segments to determine one or more of the start time, end time, and track circle number corresponding to each valid in-station arc segment. In one example, according to the visibility information at each time point, each entry and exit is grouped together to arrange the start and end time of the in-station arc segments, and the track circle number is marked with each group of start time and end time.

[0118] In one example, the orbit where the satellite is located at the current time point is marked as the 1st orbit, and the orbit after the ascending node is marked as the 2nd orbit, and so on. If the intra-station arc crosses the ascending node, it is marked as the Nth, N+1th orbit, where N is the orbit number corresponding to the start time of the intra-station arc.

[0119] The embodiment of the present invention provides a complete calculation method for the measurement and control data transmission arc segment, which only takes the current satellite orbit and ground station configuration information as input, calculates and outputs the time series corresponding to the arc segment within the station, and marks the orbit circle number.

[0120] In one embodiment, see Figure 3 The overall flow diagram of a method for automatically calculating arc segments of satellite measurement and control data transmission shown in FIG. 1 includes:

[0121] (1) Initial settings: that is, setting the calculation conditions, including the current time point, forecast duration, current satellite orbit, and multiple ground station configurations (latitude and longitude, elevation constraints).

[0122] (2) Orbit recursion: Orbit recursion is performed according to the forecast duration to generate the inertial position sequence of the satellite in the inertial coordinate system and its corresponding time series;

[0123] Furthermore, coordinate conversion is required: the satellite's inertial position sequence is converted to the earth-fixed coordinate system, and then converted to the local coordinate system of the ground station to form a target position sequence in the local coordinate system.

[0124] (3) Visibility judgment: Calculate the elevation angle of the satellite's position in the local coordinate system of each ground station in turn to see if it is greater than the visible range elevation angle constraint, and obtain the arc segment within each station (that is, the effective arc segment within the station under the single station requirement). Figure 3 As shown, the ground station 1 makes a visibility judgment to generate arc segments within each sub-station, the ground station 2 makes a visibility judgment to generate arc segments within each sub-station... the ground station N makes a visibility judgment to generate arc segments within each sub-station.

[0125] (4) Obtaining the union to generate a comprehensive intra-station arc segment (ie, a valid intra-station arc segment under multi-station requirements). In one example, the union or intersection of the visibility of each station can be obtained as needed to form a comprehensive intra-station arc segment.

[0126] (5) Data post-processing: Find the ascending intersection of each track and mark the track circle number. In one example, generate the start and end times of the arc segment within the station, and mark the track circle number for each set of start and end times.

[0127] The data related to the time points (1) to (4) are all expressed in Julian days. The time point (5) is output in Beijing time.

[0128] In summary, the embodiment of the present invention provides a method for automatically calculating arc segments of satellite measurement and control data transmission, including: a calculation condition setting link, an orbit recursion link, a coordinate conversion link, a visibility judgment link, and a data post-processing link. A set of special calculation methods is provided, which only uses the current satellite orbit and ground station configuration information as input, calculates and outputs the time series corresponding to the arc segments within the station, and marks the orbit circle number to facilitate further statistics by circle by engineering personnel. The embodiment of the present invention solves the problem that traditional ground calculations must be manually operated by professionals, ensuring data credibility and improving work efficiency; at the same time, it can make the on-site arc segment forecast independent of the hardware support of positioning systems such as GPS, which is conducive to reducing satellite platform design requirements and improving the overall satellite design autonomy and redundancy. The input and output of this method are simple and clear, which is convenient for the transplantation and use of the entire set. At the same time, the internal structure and interface are simple, which is convenient for secondary development.

[0129] Based on the above-mentioned embodiments, the present invention provides a device for automatically calculating the arc segment of a satellite measurement and control data transmission. Figure 4 The schematic diagram of the structure of a satellite measurement and control data transmission arc automatic calculation device shown in FIG. 1 mainly includes the following parts:

[0130] Information acquisition module 402, used to obtain the current time point, forecast duration information, satellite current orbit information and configuration information corresponding to each ground station;

[0131] The orbit recursion module 404 is used to perform orbit recursion based on the current time point, the forecast duration information and the current orbit information of the satellite to generate a target position sequence of the satellite in the local coordinate system corresponding to each ground station;

[0132] The visibility determination module 406 is used to determine the visibility of the satellite relative to each ground station according to the configuration information and the target position sequence, so as to form a valid intra-station arc under the single-station requirement or multi-station requirement.

[0133] The above-mentioned device only uses the current time point, forecast duration information, current satellite orbit information and the configuration information corresponding to each ground station as input, and performs orbit forecast, coordinate conversion and visibility judgment to realize autonomous calculation of effective in-station arc segments. The embodiment of the present invention solves the problem that traditional ground calculations must be performed manually by professionals, and can significantly improve data credibility and work efficiency to meet the work requirements of repeated iterative design in the research and development stage; at the same time, the in-station arc segment forecast on the satellite can be independent of the hardware support of positioning systems such as GPS, which is conducive to reducing satellite platform design requirements and improving the overall satellite design autonomy and redundancy to meet the work requirements of autonomous calculation of in-station arc segments in the on-orbit stage.

[0134] In one implementation, the track recursion module 404 is further configured to:

[0135] Based on the current time point and forecast duration information, determine the time interval to be forecasted;

[0136] For any time point within the forecast time interval, the target orbital elements corresponding to the satellite at that time point are determined based on the current orbital information of the satellite by combining the perturbation analytical model;

[0137] The target orbit elements corresponding to the satellite at each time point are converted into the satellite position information in the inertial coordinate system to obtain the inertial position sequence;

[0138] The inertial position sequence is transformed into a coordinate system to obtain the target position sequence of the satellite in the local coordinate system corresponding to each ground station.

[0139] In one embodiment, the combined perturbation analytical model includes J4 perturbation sub-model and atmospheric drag perturbation sub-model; orbit recursion module 404 is also used for:

[0140] By J 4 The perturbation sub-model determines the initial orbital elements corresponding to the satellite at that time point based on the current orbital information of the satellite; wherein the initial orbital elements include the orbital semi-major axis, eccentricity, inclination, right ascension of the ascending node, argument of perigee and mean anomaly;

[0141] Through the atmospheric drag perturbation sub-model, the orbit semi-major axis and mean anomaly are compensated to obtain the compensated orbit semi-major axis and compensated mean anomaly.

[0142] The compensated orbit semi-major axis, compensated mean anomaly, eccentricity, inclination, right ascension of ascending node and argument of perigee are taken as the target orbit elements corresponding to the satellite at that time point.

[0143] In one implementation, the track recursion module 404 is further configured to:

[0144] The inertial position sequence is converted from the inertial coordinate system to the earth-fixed coordinate system, and then converted from the earth-fixed coordinate system to the local coordinate system corresponding to each ground station to obtain the target position sequence of the satellite in the local coordinate system corresponding to each ground station.

[0145] In one implementation, the configuration information includes the latitude and longitude positions corresponding to the ground station; the orbit recursion module 404 is further used to:

[0146] The inertial position sequence is converted from the inertial coordinate system to the earth-fixed coordinate system through the conversion matrix between the inertial coordinate system and the earth-fixed coordinate system to obtain the converted position sequence;

[0147] And, converting the latitude and longitude positions corresponding to the ground station into the ground station position information in the earth fixed coordinate system;

[0148] Based on the converted position sequence and the position information of the ground station in the earth-fixed coordinate system, the position sequence of the satellite and the ground station in the earth-fixed coordinate system is determined;

[0149] The position sequence is converted into the target position sequence of the satellite in the local coordinate system corresponding to the ground station through the transformation matrix between the earth-fixed coordinate system and the local coordinate system corresponding to the ground station.

[0150] In one implementation, the configuration information includes a visible range elevation angle constraint; the visibility determination module 406 is further configured to:

[0151] Based on the target position sequence, determine the elevation angle of the satellite relative to the ground station;

[0152] If the elevation angle is greater than the visible range elevation angle constraint, the satellite is determined to be visible relative to the ground station to form a valid intra-station arc under the single-station requirement;

[0153] And / or, determining a union or intersection of valid intra-station arcs under multiple single-station requirements to form a valid intra-station arc under multiple-station requirements.

[0154] In one embodiment, a post-processing module is further included, which is used to:

[0155] The valid intra-station arc segments are post-processed to determine one or more of the start time, end time and orbit circle number corresponding to each valid intra-station arc segment.

[0156] The device provided in the embodiment of the present invention has the same implementation principle and technical effects as those of the aforementioned method embodiment. For the sake of brief description, for matters not mentioned in the device embodiment, reference may be made to the corresponding contents in the aforementioned method embodiment.

[0157] An embodiment of the present invention provides an electronic device. Specifically, the electronic device includes a processor and a storage device. The storage device stores a computer program, and when the computer program is executed by the processor, it executes the method described in any one of the above-mentioned implementation methods.

[0158] Figure 5 A structural diagram of an electronic device provided in an embodiment of the present invention, the electronic device 100 includes: a processor 50, a memory 51, a bus 52 and a communication interface 53, wherein the processor 50, the communication interface 53 and the memory 51 are connected via the bus 52; the processor 50 is used to execute an executable module stored in the memory 51, such as a computer program.

[0159] The memory 51 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 53 (which may be wired or wireless), and the Internet, wide area network, local area network, metropolitan area network, etc. may be used.

[0160] The bus 52 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 5 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.

[0161] Among them, the memory 51 is used to store programs, and the processor 50 executes the program after receiving the execution instruction. The method executed by the device for flow process definition disclosed in any embodiment of the above-mentioned embodiment of the present invention can be applied to the processor 50 or implemented by the processor 50.

[0162] The processor 50 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 50. The above processor 50 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 can be executed by a combination of hardware and software modules in the decoding processor. 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 51, and the processor 50 reads the information in the memory 51 and completes the steps of the above method in combination with its hardware.

[0163] The computer program product of the readable storage medium provided in the embodiment of the present invention includes a computer-readable storage medium storing program code, and the instructions included in the program code can be used to execute the methods described in the previous method embodiments. The specific implementation can be referred to the previous method embodiments, which will not be repeated here.

[0164] 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 computer-readable storage medium. 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 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: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc., which can store program codes.

[0165] Finally, it should be noted that the above-described embodiments are only specific implementations of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The protection scope of the present invention is not limited thereto. Although the present invention is described in detail with reference to the above-mentioned embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-mentioned embodiments within the technical scope disclosed by the present invention, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A method for automatically calculating arc segments of satellite measurement and control data transmission, characterized in that: include: Obtain the current time point, forecast duration information, satellite current orbit information and configuration information corresponding to each ground station, wherein the configuration information includes the latitude and longitude position corresponding to the ground station and the visible range elevation angle constraint; Performing orbit recursion based on the current time point, the forecast duration information and the current orbit information of the satellite to generate a target position sequence of the satellite in the local coordinate system corresponding to each of the ground stations; Determine the visibility of the satellite relative to each of the ground stations according to the configuration information and the target position sequence, so as to form a valid intra-station arc under a single-station requirement or a multi-station requirement; The step of performing orbit recursion based on the current time point, the forecast duration information and the current orbit information of the satellite to generate a target position sequence of the satellite in the local coordinate system corresponding to each of the ground stations includes: determining a time interval to be forecast based on the current time point and the forecast duration information; for any time point in the time interval to be forecast, determining the target orbit element corresponding to the satellite at the time point based on the current orbit information of the satellite through a combined perturbation analytical model; converting the target orbit element corresponding to the satellite at each time point into satellite position information of the satellite in an inertial coordinate system to obtain an inertial position sequence; and performing coordinate system conversion on the inertial position sequence to obtain a target position sequence of the satellite in the local coordinate system corresponding to each of the ground stations.

2. The method for automatically calculating the arc segment of satellite measurement and control data transmission according to claim 1 is characterized in that: The combined perturbation analytical model includes a J4 perturbation sub-model and an atmospheric drag perturbation sub-model; The step of determining the number of target orbital elements corresponding to the satellite at the time point based on the current orbital information of the satellite by combining the perturbation analytical model comprises: Determine the initial orbital elements corresponding to the satellite at the time point based on the current orbital information of the satellite through the J4 perturbation submodel; wherein the initial orbital elements include the orbital semi-major axis, eccentricity, inclination, right ascension of ascending node, argument of perigee and mean anomaly; The orbit semi-major axis and the mean anomaly are compensated by using an atmospheric drag perturbation sub-model to obtain a compensated orbit semi-major axis and a compensated mean anomaly; The compensated orbit semi-major axis, the compensated mean anomaly, the eccentricity, the inclination, the right ascension of the ascending node and the argument of perigee are used as the target orbit elements corresponding to the satellite at the time point.

3. The method for automatically calculating the arc segment of satellite measurement and control data transmission according to claim 1 is characterized in that: The step of performing coordinate system conversion on the inertial position sequence to obtain a target position sequence of the satellite in a local coordinate system corresponding to each of the ground stations comprises: The inertial position sequence is sequentially converted from the inertial coordinate system to the earth-fixed coordinate system, and then converted from the earth-fixed coordinate system to the local coordinate system corresponding to each of the ground stations, so as to obtain the target position sequence of the satellite in the local coordinate system corresponding to each of the ground stations.

4. The method for automatically calculating the arc segment of satellite measurement and control data transmission according to claim 3 is characterized in that: The step of sequentially converting the inertial position sequence from the inertial coordinate system to an earth-fixed coordinate system, and then converting from the earth-fixed coordinate system to a local coordinate system corresponding to each of the ground stations to obtain a target position sequence of the satellite in the local coordinate system corresponding to each of the ground stations comprises: The inertial position sequence is converted from the inertial coordinate system to the earth-fixed coordinate system through a conversion matrix between the inertial coordinate system and the earth-fixed coordinate system to obtain a converted position sequence; And, converting the latitude and longitude positions corresponding to the ground station into the ground station position information in the earth-fixed coordinate system; Determine a position sequence of the satellite and the ground station in the earth-fixed coordinate system based on the converted position sequence and the ground station position information in the earth-fixed coordinate system; The position sequence is converted into a target position sequence of the satellite in the local coordinate system corresponding to the ground station through a conversion matrix between the earth-fixed coordinate system and the local coordinate system corresponding to the ground station.

5. The method for automatically calculating the arc segment of satellite measurement and control data transmission according to claim 1 is characterized in that: The step of determining the visibility of the satellite relative to each of the ground stations according to the configuration information and the target position sequence to form a valid intra-station arc under a single-station requirement or a multi-station requirement comprises: determining, based on the target position sequence, an elevation angle of the satellite relative to the ground station; If the elevation angle is greater than the visible range elevation angle constraint, determining that the satellite is visible relative to the ground station to form a valid intra-station arc under a single-station requirement; And / or, determining a union or intersection of the valid intra-station arc segments under the single-station requirements to form a valid intra-station arc segment under the multi-station requirements.

6. The method for automatically calculating the arc segment of satellite measurement and control data transmission according to claim 1 is characterized in that: The method further comprises: The valid intra-station arc segments are subjected to data post-processing to determine one or more of a start time, an end time and an orbit circle number corresponding to each valid intra-station arc segment.

7. A satellite measurement and control data transmission arc segment automatic calculation device, characterized in that: include: An information acquisition module is used to obtain the current time point, forecast duration information, satellite current orbit information and configuration information corresponding to each ground station, wherein the configuration information includes the latitude and longitude position corresponding to the ground station and the elevation angle constraint of the visible range; An orbit recursion module, used to perform orbit recursion based on the current time point, the forecast duration information and the current orbit information of the satellite, so as to generate a target position sequence of the satellite in the local coordinate system corresponding to each of the ground stations; A visibility determination module, configured to determine the visibility of the satellite relative to each of the ground stations according to the configuration information and the target position sequence, so as to form a valid intra-station arc under a single-station requirement or a multi-station requirement; The orbit recursion module is specifically used to: determine the time interval to be predicted based on the current time point and the forecast duration information; For any time point within the time interval to be predicted, the target orbital elements corresponding to the satellite at the time point are determined based on the current orbital information of the satellite by combining the perturbation analytical model; The target orbit elements corresponding to the satellite at each time point are converted into satellite position information of the satellite in an inertial coordinate system to obtain an inertial position sequence; the inertial position sequence is subjected to a coordinate system transformation to obtain a target position sequence of the satellite in a local coordinate system corresponding to each of the ground stations.

8. An electronic device, characterized in that: The method comprises a processor and a memory, wherein the memory stores computer executable instructions that can be executed by the processor, and the processor executes the computer executable instructions to implement the method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are called and executed by a processor, the computer-executable instructions prompt the processor to implement the method according to any one of claims 1 to 6.

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