A method and device for optimizing a ground-to-ground joint observation link

Abstract

The present invention discloses a method and device for optimizing a space-ground joint observation link, the method comprising: obtaining a first space observation angle of a ground monitoring receiver to a target satellite and a second space observation angle of a low-orbit satellite onboard monitoring receiver to the target satellite; processing the first space observation angle and the second space observation angle to obtain the total number of valid satellite-ground observation links and the total number of valid onboard observation links; processing the total number of valid satellite-ground observation links and the total number of valid onboard observation links to obtain a space-ground joint observation link optimization scheme. The method of the present invention enriches the space-ground joint satellite orbit determination optimization means, and through the optimization of observation data of ground monitoring receivers and low-orbit onboard monitoring receivers, it can effectively eliminate observation link data with poor observation geometry conditions, reduce the dimension of the normal equation in the satellite orbit determination solution process, and thus improve the efficiency of satellite orbit determination solution.

Description

Technical Field

[0001] The present invention relates to the field of satellite navigation technology, and in particular to a method and device for optimizing a ground-to-earth joint observation link. Background Art

[0002] As a high-precision space-based monitoring station for navigation satellites, low-orbit satellites have become a hot research topic in the aerospace field at home and abroad in recent years.

[0003] Numerous low-orbit satellites can provide more onboard observation data for navigation satellites, making it easier to obtain full-arc observation data, but this also brings new problems. A large number of low-orbit satellites will inevitably cause an excess of onboard observation data. Therefore, through the analysis of observation geometry configuration, it is of great significance to reasonably formulate the optimization strategy of observation links to improve the efficiency of fusion monitoring and processing of multi-source data and satellite orbit determination. Summary of the invention

[0004] The technical problem to be solved by the present invention is to propose a method and device for optimizing the space-ground joint observation link to improve the efficiency of the space-ground joint orbit determination solution, in response to the problem of excess onboard observation data caused by massive low-orbit satellite observations.

[0005] In order to solve the above technical problems, a first aspect of an embodiment of the present invention discloses a method for optimizing a ground-based joint observation link, the method comprising:

[0006] S1, obtaining a first spatial observation angle of a ground monitoring receiver to a target satellite and a second spatial observation angle of a low-orbit satellite-borne monitoring receiver to the target satellite;

[0007] S2, processing the first space observation angle and the second space observation angle to obtain the total number of valid satellite-to-ground observation links and the total number of valid satellite-borne observation links;

[0008] S3, processing the total number of valid satellite-to-ground observation links and the total number of valid satellite-borne observation links to obtain an optimal solution for the space-ground combined observation links.

[0009] As an optional implementation manner, in the first aspect of the embodiment of the present invention, the expression of the first space observation angle of the ground monitoring receiver to the target satellite is:

[0010]

[0011] Among them, α is the first spatial observation angle of the ground monitoring receiver to the target satellite, R OS is the distance from the target satellite to the center of the earth, R OG is the distance from the ground station to the center of the earth, R GS is the distance from the target satellite to the ground station.

[0012] As an optional implementation, in the first aspect of the embodiment of the present invention, the second space observation angle expression of the low-orbit satellite onboard monitoring receiver to the target satellite is:

[0013]

[0014] Where β is the second space observation angle of the low-orbit satellite onboard monitoring receiver to the target satellite, R OS is the distance from the target satellite to the center of the earth, R OL is the distance from the low-orbit satellite to the center of the earth, R SL is the distance from the target satellite to the low-orbit satellite.

[0015] As an optional implementation manner, in the first aspect of the embodiment of the present invention, the processing of the first space observation angle and the second space observation angle to obtain the total number of valid satellite-to-ground observation links and the total number of valid satellite-borne observation links includes:

[0016] S21, processing the first space observation angle to obtain a total number n of effective satellite-to-ground observation links;

[0017] S22, processing the second space observation angle to obtain the total number m of effective satellite-borne observation links.

[0018] As an optional implementation manner, in the first aspect of the embodiment of the present invention, the processing of the first space observation angle to obtain the total number n of valid satellite-to-ground observation links includes:

[0019] When the first spatial observation angle α satisfies α min ≤α≤α max When α min is the minimum fixed value set according to the performance of the ground monitoring station monitoring receiver, α max Maximum fixed value set for monitoring receiver performance based on ground monitoring stations;

[0020] Count all valid satellite-to-ground observation links to obtain the total number n of valid satellite-to-ground observation links.

[0021] As an optional implementation manner, in the first aspect of the embodiment of the present invention, the processing of the second space observation angle to obtain the total number m of effective satellite-borne observation links includes:

[0022] S221, obtaining the angle γ between the line connecting the low-orbit satellite to the center of the earth and the line connecting the target satellite to the center of the earth, the angle γ0 between the horizontal line of sight of the earth to the target satellite and the center of the earth, the beam angle β0 of the target satellite, and the angle β1 between the horizontal line of sight of the earth to the target satellite and the target satellite and the center of the earth;

[0023] S222, when γ≤γ0 and β≤β0, the low-orbit satellite and the corresponding onboard observation link are valid;

[0024] S223, when γ≥γ0 and β1≤β≤β0, the low-orbit satellite and the corresponding onboard observation link are valid;

[0025] S224, counting the number of all valid satellite-borne observation links to obtain the total number m of valid satellite-borne observation links.

[0026] As an optional implementation manner, in the first aspect of the embodiment of the present invention, the processing of the total number of valid satellite-to-ground observation links and the total number of valid satellite-borne observation links to obtain a preferred solution for the space-ground joint observation links includes:

[0027] S31, when the sum of the total number of valid satellite-to-ground observation links n and the total number of valid satellite-borne observation links m is greater than or equal to a preset threshold k, the total number of valid satellite-to-ground observation links n, the total number of valid satellite-borne observation links m and the preset threshold k are processed to obtain a total number of observation geometry conditions.

[0028] The total number of observation geometries The expression is:

[0029]

[0030] S32, processing the preset observation coefficient matrix to obtain Satellite position dilution of precision factor under these combination conditions;

[0031] S33, for the The satellite position precision reduction factors under the various combination conditions are sorted in order from small to large, and the combined observation data corresponding to the satellite position precision reduction factors with the highest sorting are the preferred solutions for the space-ground joint observation link for the real-time solution of the space-ground joint orbit determination.

[0032] As an optional implementation, in the first aspect of the embodiment of the present invention, the preset observation coefficient matrix is ​​processed to obtain Satellite position precision reduction factors under various combinations of conditions, including:

[0033] S321, obtaining a preset observation coefficient matrix; the preset observation coefficient matrix expression is:

[0034]

[0035] Where A is the preset observation coefficient matrix, the subscript k×3 means that the matrix A has k rows and 3 columns, k is the total number of valid observation links, ρ i, i = 1, 2, ..., k is the position vector of the target satellite and the onboard monitoring receiver or the ground monitoring station monitoring receiver i, (x1, y1, z1) is the position of the target satellite in the inertial system;

[0036] S322, processing the observation coefficient matrix A to obtain a normal equation coefficient matrix N;

[0037] The expression of the normal equation coefficient matrix N is:

[0038] N=A T PA

[0039] Among them, P is the weight matrix;

[0040] S323, processing the normal equation coefficient matrix N to obtain a cofactor matrix Q for satellite orbit determination using a weight matrix;

[0041] The cofactor matrix Q is expressed as:

[0042]

[0043] Among them, T represents transpose, q jl ,j=1,2,3,l=1,2,3 are the elements of the cofactor matrix Q;

[0044] The satellite precision factor SPDOP is expressed as:

[0045]

[0046] S324, processing the SPDOP under different combination conditions, and obtaining Satellite position dilution of precision factor under various combination conditions

[0047] A second aspect of an embodiment of the present invention discloses a device for optimizing a ground-based joint observation link, the device comprising:

[0048] A data acquisition module, used to acquire a first spatial observation angle of a ground monitoring receiver to a target satellite and a second spatial observation angle of a low-orbit satellite-borne monitoring receiver to the target satellite;

[0049] an observation link total number calculation module, used to process the first space observation angle and the second space observation angle to obtain the total number of valid satellite-to-ground observation links and the total number of valid satellite-borne observation links;

[0050] The observation link optimization scheme calculation module is used to process the total number of valid satellite-to-ground observation links and the total number of valid satellite-borne observation links to obtain a preferred scheme for the space-ground combined observation links.

[0051] As an optional implementation manner, in the second aspect of the embodiment of the present invention, the expression of the first space observation angle of the ground monitoring receiver to the target satellite is:

[0052]

[0053] Among them, α is the first spatial observation angle of the ground monitoring receiver to the target satellite, R OS is the distance from the target satellite to the center of the earth, R OG is the distance from the ground station to the center of the earth, R GS is the distance from the target satellite to the ground station.

[0054] As an optional implementation, in the second aspect of the embodiment of the present invention, the second space observation angle expression of the low-orbit satellite onboard monitoring receiver to the target satellite is:

[0055]

[0056] Where β is the second space observation angle of the low-orbit satellite onboard monitoring receiver to the target satellite, R OS is the distance from the target satellite to the center of the earth, R OL is the distance from the low-orbit satellite to the center of the earth, R SL is the distance from the target satellite to the low-orbit satellite.

[0057] As an optional implementation manner, in the second aspect of the embodiment of the present invention, the processing of the first space observation angle and the second space observation angle to obtain the total number of valid satellite-to-ground observation links and the total number of valid satellite-borne observation links includes:

[0058] S21, processing the first space observation angle to obtain a total number n of effective satellite-to-ground observation links;

[0059] S22, processing the second space observation angle to obtain the total number m of effective satellite-borne observation links.

[0060] As an optional implementation manner, in the second aspect of the embodiment of the present invention, the processing of the first space observation angle to obtain the total number n of valid satellite-to-ground observation links includes:

[0061] When the first spatial observation angle α satisfies α min ≤α≤α max When α min is the minimum fixed value set according to the performance of the ground monitoring station monitoring receiver, α max Maximum fixed value set for monitoring receiver performance based on ground monitoring stations;

[0062] Count all valid satellite-to-ground observation links to obtain the total number n of valid satellite-to-ground observation links.

[0063] As an optional implementation manner, in the second aspect of the embodiment of the present invention, the processing of the second space observation angle to obtain the total number m of effective satellite-borne observation links includes:

[0064] S221, obtaining the angle γ between the line connecting the low-orbit satellite to the center of the earth and the line connecting the target satellite to the center of the earth, the angle γ0 between the horizontal line of sight of the earth to the target satellite and the center of the earth, the beam angle β0 of the target satellite, and the angle β1 between the horizontal line of sight of the earth to the target satellite and the target satellite and the center of the earth;

[0065] S222, when γ≤γ0 and β≤β0, the low-orbit satellite and the corresponding onboard observation link are valid;

[0066] S223, when γ≥γ0 and β1≤β≤β0, the low-orbit satellite and the corresponding onboard observation link are valid;

[0067] S224, counting the number of all valid satellite-borne observation links to obtain the total number m of valid satellite-borne observation links.

[0068] As an optional implementation manner, in the second aspect of the embodiment of the present invention, the processing of the total number of valid satellite-to-ground observation links and the total number of valid satellite-borne observation links to obtain a preferred solution for the space-ground joint observation links includes:

[0069] S31, when the sum of the total number of valid satellite-to-ground observation links n and the total number of valid satellite-borne observation links m is greater than or equal to a preset threshold k, the total number of valid satellite-to-ground observation links n, the total number of valid satellite-borne observation links m and the preset threshold k are processed to obtain a total number of observation geometry conditions.

[0070] The total number of observation geometries The expression is:

[0071]

[0072] S32, processing the preset observation coefficient matrix to obtain Satellite position dilution of precision factor under these combination conditions;

[0073] S33, for the The satellite position precision reduction factors under the various combination conditions are sorted in order from small to large, and the combined observation data corresponding to the satellite position precision reduction factors with the highest sorting are the preferred solutions for the space-ground joint observation link for the real-time solution of the space-ground joint orbit determination.

[0074] As an optional implementation, in the second aspect of the embodiment of the present invention, the preset observation coefficient matrix is ​​processed to obtain Satellite position precision reduction factors under various combinations of conditions, including:

[0075] S321, obtaining a preset observation coefficient matrix; the preset observation coefficient matrix expression is:

[0076]

[0077] Where A is the preset observation coefficient matrix, the subscript k×3 means that the matrix A has k rows and 3 columns, k is the total number of valid observation links, ρ i , i = 1, 2, ..., k is the position vector of the target satellite and the onboard monitoring receiver or the ground monitoring station monitoring receiver i, (x1, y1, z1) is the position of the target satellite in the inertial system;

[0078] S322, processing the observation coefficient matrix A to obtain a normal equation coefficient matrix N;

[0079] The expression of the normal equation coefficient matrix N is:

[0080] N=A T PA

[0081] Among them, P is the weight matrix;

[0082] S323, processing the normal equation coefficient matrix N to obtain a cofactor matrix Q for satellite orbit determination using a weight matrix;

[0083] The cofactor matrix Q is expressed as:

[0084]

[0085] Among them, T represents transpose, q jl ,j=1,2,3,l=1,2,3 are the elements of the cofactor matrix Q;

[0086] The satellite precision factor SPDOP expression is:

[0087]

[0088] S324, processing the SPDOP under different combination conditions, and obtaining Satellite position dilution of precision factor under various combination conditions

[0089] The third aspect of the present invention discloses another device for optimizing a ground-based joint observation link, the device comprising:

[0090] A memory storing executable program code;

[0091] a processor coupled to the memory;

[0092] The processor calls the executable program code stored in the memory to execute part or all of the steps in the method for optimizing the ground-ground joint observation link disclosed in the first aspect of an embodiment of the present invention.

[0093] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0094] The present invention proposes a method for optimizing joint space-ground based observation links, which enriches the means for optimizing joint space-ground based satellite observation orbit determination. By optimizing the observation data of ground monitoring receivers and low-orbit satellite-borne monitoring receivers, the observation link data with poor observation geometry conditions can be effectively eliminated, and the dimension of the normal equation in the process of satellite orbit determination can be reduced, thereby improving the efficiency of satellite orbit determination. BRIEF DESCRIPTION OF THE DRAWINGS

[0095] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0096] Figure 1 It is a flow chart of a method for selecting a ground-ground joint observation link disclosed in an embodiment of the present invention;

[0097] Figure 2 It is a flow chart of another method for selecting a ground-based joint observation link disclosed in an embodiment of the present invention;

[0098] Figure 3 It is a schematic diagram of the effective observation elevation angle of the satellite-to-ground observation link disclosed in an embodiment of the present invention;

[0099] Figure 4 is a schematic diagram of an effective observation angle of a satellite-borne observation link disclosed in an embodiment of the present invention (γ≤γ0);

[0100] Figure 5 is a schematic diagram of an effective observation angle of a satellite-borne observation link disclosed in an embodiment of the present invention (γ≥γ0);

[0101] Figure 6 It is a structural schematic diagram of a ground-based joint observation link optimization device disclosed in an embodiment of the present invention;

[0102] Figure 7 It is a structural schematic diagram of another device for optimizing a ground-ground joint observation link disclosed in an embodiment of the present invention. DETAILED DESCRIPTION

[0103] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme 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 only 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.

[0104] The terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, device, product or equipment that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units that are not listed, or may optionally include other steps or units that are inherent to these processes, methods, products or equipment.

[0105] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present invention. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0106] The present invention discloses a method and device for optimizing a space-ground joint observation link, the method comprising: obtaining a first space observation angle of a ground monitoring receiver to a target satellite and a second space observation angle of a low-orbit satellite onboard monitoring receiver to the target satellite; processing the first space observation angle and the second space observation angle to obtain the total number of valid satellite-ground observation links and the total number of valid onboard observation links; processing the total number of valid satellite-ground observation links and the total number of valid onboard observation links to obtain a space-ground joint observation link optimization scheme. The method of the present invention enriches the space-ground joint satellite orbit determination optimization means, and through the optimization of observation data from ground monitoring receivers and low-orbit onboard monitoring receivers, it can effectively eliminate observation link data with poor observation geometry conditions, reduce the dimension of the normal equation in the process of satellite orbit determination, and thus improve the efficiency of satellite orbit determination. They are described in detail below.

[0107] Embodiment 1

[0108] See also Figure 1 , Figure 1 1 is a flow chart of a method for selecting a space-ground joint observation link disclosed in an embodiment of the present invention. Figure 1The described method for optimizing the ground-to-earth joint observation link is applied to the field of satellite navigation technology. By optimizing the observation data of ground monitoring receivers and low-orbit satellite-borne monitoring receivers, the observation link data with poor observation geometry conditions can be effectively eliminated, and the dimension of the normal equation in the satellite orbit determination process can be reduced, thereby improving the efficiency of the satellite orbit determination solution. The embodiments of the present invention are not limited.

[0109] like Figure 1 As shown, the space-ground joint observation link optimization method may include the following operations:

[0110] S1, obtaining a first spatial observation angle of a ground monitoring receiver to a target satellite and a second spatial observation angle of a low-orbit satellite-borne monitoring receiver to the target satellite;

[0111] S2, processing the first space observation angle and the second space observation angle to obtain the total number of valid satellite-to-ground observation links and the total number of valid satellite-borne observation links;

[0112] S3, processing the total number of valid satellite-to-ground observation links and the total number of valid satellite-borne observation links to obtain an optimal solution for the space-ground combined observation links.

[0113] Optionally, the expression of the first space observation angle of the ground monitoring receiver to the target satellite is:

[0114]

[0115] Among them, α is the first spatial observation angle of the ground monitoring receiver to the target satellite, R OS is the distance from the target satellite to the center of the earth, R OG is the distance from the ground station to the center of the earth, R GS is the distance from the target satellite to the ground station.

[0116] Optionally, the expression of the second space observation angle of the low-orbit satellite onboard monitoring receiver to the target satellite is:

[0117]

[0118] Where β is the second space observation angle of the low-orbit satellite onboard monitoring receiver to the target satellite, R OS is the distance from the target satellite to the center of the earth, R OL is the distance from the low-orbit satellite to the center of the earth, R SL is the distance from the target satellite to the low-orbit satellite.

[0119] Optionally, the processing the first space observation angle and the second space observation angle to obtain the total number of valid satellite-to-ground observation links and the total number of valid satellite-borne observation links includes:

[0120] S21, processing the first space observation angle to obtain a total number n of effective satellite-to-ground observation links;

[0121] S22, processing the second space observation angle to obtain the total number m of effective satellite-borne observation links.

[0122] Optionally, the processing the first space observation angle to obtain the total number n of valid satellite-to-ground observation links includes:

[0123] When the first spatial observation angle α satisfies α min ≤α≤α max When α min is the minimum fixed value set according to the performance of the ground monitoring station monitoring receiver, α max Maximum fixed value set for monitoring receiver performance based on ground monitoring stations;

[0124] Count all valid satellite-to-ground observation links to obtain the total number n of valid satellite-to-ground observation links.

[0125] Optionally, the processing the second space observation angle to obtain the total number m of effective onboard observation links includes:

[0126] S221, obtaining the angle γ between the line connecting the low-orbit satellite to the center of the earth and the line connecting the target satellite to the center of the earth, the angle γ0 between the horizontal line of sight of the earth to the target satellite and the center of the earth, the beam angle β0 of the target satellite, and the angle β1 between the horizontal line of sight of the earth to the target satellite and the target satellite and the center of the earth;

[0127] S222, when γ≤γ0 and β≤β0, the low-orbit satellite and the corresponding onboard observation link are valid;

[0128] S223, when γ≥γ0 and β1≤β≤β0, the low-orbit satellite and the corresponding onboard observation link are valid;

[0129] S224, counting the number of all valid satellite-borne observation links to obtain the total number m of valid satellite-borne observation links.

[0130] Optionally, the processing of the total number of valid satellite-to-ground observation links and the total number of valid satellite-borne observation links to obtain a preferred solution for the space-ground combined observation links includes:

[0131] S31, when the sum of the total number of valid satellite-to-ground observation links n and the total number of valid satellite-borne observation links m is greater than or equal to a preset threshold k, the total number of valid satellite-to-ground observation links n, the total number of valid satellite-borne observation links m and the preset threshold k are processed to obtain a total number of observation geometry conditions.

[0132] The total number of observation geometries The expression is:

[0133]

[0134] S32, processing the preset observation coefficient matrix to obtain Satellite position dilution of precision factor under these combination conditions;

[0135] S33, for the The satellite position precision reduction factors under the various combination conditions are sorted in order from small to large, and the combined observation data corresponding to the satellite position precision reduction factors with the highest sorting are the preferred solutions for the space-ground joint observation link for the real-time solution of the space-ground joint orbit determination.

[0136] Optionally, the preset observation coefficient matrix is ​​processed to obtain Satellite position precision reduction factors under various combinations of conditions, including:

[0137] S321, obtaining a preset observation coefficient matrix; the preset observation coefficient matrix expression is:

[0138]

[0139] Where A is the preset observation coefficient matrix, the subscript k×3 means that the matrix A has k rows and 3 columns, k is the total number of valid observation links, ρ i , i = 1, 2, ..., k is the position vector of the target satellite and the onboard monitoring receiver or the ground monitoring station monitoring receiver i, (x1, y1, z1) is the position of the target satellite in the inertial system;

[0140] S322, processing the observation coefficient matrix A to obtain a normal equation coefficient matrix N;

[0141] The expression of the normal equation coefficient matrix N is:

[0142] N=A T PA

[0143] Among them, P is the weight matrix;

[0144] S323, processing the normal equation coefficient matrix N to obtain a cofactor matrix Q for satellite orbit determination using a weight matrix;

[0145] The cofactor matrix Q is expressed as:

[0146]

[0147] Among them, T represents transpose, q jl ,j=1,2,3,l=1,2,3 are the elements of the cofactor matrix Q;

[0148] The satellite precision factor SPDOP is expressed as:

[0149]

[0150] S324, processing the SPDOP under different combination conditions, and obtaining Satellite position dilution of precision factor under various combination conditions

[0151] It can be seen that the present invention proposes a method for optimizing joint space-ground based observation links, which enriches the means of optimizing satellite observation and orbit determination by joint space-ground based observations. By optimizing the observation data of ground monitoring receivers and low-orbit satellite-borne monitoring receivers, the observation link data with poor observation geometry conditions can be effectively eliminated, and the dimension of the normal equation in the process of satellite orbit determination can be reduced, thereby improving the efficiency of satellite orbit determination.

[0152] Embodiment 2

[0153] See also Figure 2 , Figure 2 1 is a flow chart of another method for selecting a ground-based joint observation link according to an embodiment of the present invention. Figure 2 The method for optimizing the ground-to-earth joint observation link is applied to the field of satellite navigation technology. By optimizing the observation data of ground monitoring receivers and low-orbit satellite-borne monitoring receivers, the observation link data with poor observation geometry conditions can be effectively eliminated, and the dimension of the normal equation in the satellite orbit determination process can be reduced, thereby improving the efficiency of satellite orbit determination. This is not limited to the embodiments of the present invention. Figure 2 As shown, the space-ground joint observation link optimization method may include the following operations:

[0154] Step S1, based on the space observation angle of the low-orbit satellite onboard monitoring receiver and the ground monitoring receiver to the target satellite, the number of onboard and satellite-to-ground observation links is calculated.

[0155] Further, Figure 3 It is a schematic diagram of the effective observation elevation angle of the satellite-to-ground observation link. For the satellite-to-ground observation link of the ground monitoring station to the target satellite, by obtaining the target satellite broadcast ephemeris and ground station coordinates, the distance R from the target satellite to the center of the earth can be obtained. OS , the distance from the ground station to the center of the earth R OG And the distance R from the target satellite to the ground station GS , then the satellite-to-ground observation elevation angle α between the target satellite-ground monitoring station line of sight and the ground horizontal line where the ground monitoring station is located is:

[0156]

[0157] When α min ≤α≤α max, the ground monitoring station and the corresponding satellite-to-ground observation link are marked as valid, where α min , α max They are respectively the minimum fixed value and the maximum fixed value set according to the performance of the ground monitoring station monitoring receiver.

[0158] Count all valid satellite-to-ground observation links and record the total number of valid satellite-to-ground observation links as n.

[0159] Furthermore, for the onboard observation link of the low-orbit satellite to the target satellite, by obtaining the broadcast ephemeris of the target satellite and the low-orbit satellite, the distance R from the target satellite to the center of the earth can be obtained. OS , the distance from the low-orbit satellite to the center of the earth R OL And the distance R from the target satellite to the low-orbit satellite SL , then the angle β between the target satellite-low-orbit satellite line of sight and the target satellite-earth center line is:

[0160]

[0161] Figure 4 It is a schematic diagram of the effective observation angle of the satellite-borne observation link (γ≤γ0). When γ≤γ0, that is, the angle γ between the low-orbit satellite-Earth center line and the target satellite-Earth center line is less than or equal to the angle γ0 between the horizontal line of sight of the earth to the target satellite and the Earth center line, if β≤β0, the low-orbit satellite and the corresponding satellite-borne observation link are marked as valid, otherwise invalid. Among them, β0 is the beam angle of the target satellite.

[0162] Figure 5 It is a schematic diagram of the effective observation angle of the satellite observation link (γ≥γ0). When γ≥γ0, if β1≤β≤β0, the low-orbit satellite and the corresponding satellite observation link are marked as valid, otherwise invalid. Among them, β1 is the angle between the horizontal line of sight of the earth to the target satellite-target satellite and the target satellite-earth center.

[0163] Count all valid satellite observation links and record the total number of valid satellite observation links as m.

[0164] Step S2: If the sum of the number of effective satellite-borne observation links m and the number of effective satellite-to-ground observation links n is greater than or equal to k, then The satellite precision reduction factor under different combination conditions is calculated. Otherwise, the observation link optimization is not performed. k can be set according to user needs.

[0165] Furthermore, the number of combinations of the marked valid satellite observation links and satellite-to-ground observation links is calculated, and the result is The calculation formula is:

[0166]

[0167] Furthermore, the observation coefficient matrix of the effectively marked ground monitoring stations and low-orbit satellites to the target satellite can be expressed as:

[0168]

[0169] Where A is the preset observation coefficient matrix, the subscript k×3 means that the matrix A has k rows and 3 columns, k is the total number of valid observation links, ρ i , i = 1, 2, ..., k is the position vector of the target satellite and the onboard monitoring receiver or the ground monitoring station monitoring receiver i, (x1, y1, z1) is the position of the target satellite in the inertial system;

[0170] At this time, the normal equation coefficient matrix can be expressed as:

[0171] N=A T PA (5)

[0172] Where P is the weight matrix, and the cofactor matrix for satellite orbit determination using the weight matrix is ​​expressed as:

[0173]

[0174] Furthermore, the satellite position precision reduction factor SPDOP expression can be obtained:

[0175]

[0176] Respectively under the combined conditions Perform calculations.

[0177] Step S3: According to the principle of priority of combinations with satellite-to-ground observation links, the satellite precision reduction factors under all combination conditions are calculated. Sort them in order from small to large, and give priority to using the combined observation data with the highest order as the optimal observation geometry scheme for real-time solution of joint space-ground orbit determination.

[0178] The present invention can effectively eliminate observation link data with poor observation geometry conditions through the optimization of observation data from ground monitoring receivers and low-orbit satellite-borne monitoring receivers, reduce the dimension of the normal equation in the satellite orbit determination solution process, and thus improve the efficiency of satellite orbit determination solution.

[0179] It can be seen that the present invention discloses a method for optimizing the joint ground-ground observation link, which effectively eliminates the observation link data with poor observation geometry conditions through the optimization of observation data from ground monitoring receivers and low-orbit satellite-borne monitoring receivers, thereby improving the efficiency of satellite orbit determination and solution.

[0180] Embodiment 3

[0181] See also Figure 6 , Figure 6 : is a schematic diagram of a structure of a ground-based joint observation link optimization device disclosed in an embodiment of the present invention. Figure 6 The described ground-based joint observation link optimization device is applied to the field of satellite navigation technology. By optimizing the observation data of ground monitoring receivers and low-orbit satellite-borne monitoring receivers, the observation link data with poor observation geometry conditions can be effectively eliminated, and the dimension of the normal equation in the satellite orbit determination process can be reduced, thereby improving the efficiency of satellite orbit determination. The embodiments of the present invention are not limited.

[0182] like Figure 6 As shown, the space-ground joint observation link optimization device may include the following operations:

[0183] S301, a data acquisition module, used to obtain a first spatial observation angle of a ground monitoring receiver to a target satellite and a second spatial observation angle of a low-orbit satellite-borne monitoring receiver to the target satellite;

[0184] S302, a total number of observation links calculation module, used to process the first space observation angle and the second space observation angle to obtain the total number of valid satellite-to-ground observation links and the total number of valid satellite-borne observation links;

[0185] S303, an observation link optimization scheme calculation module is used to process the total number of valid satellite-to-ground observation links and the total number of valid satellite-borne observation links to obtain a preferred scheme for the space-ground combined observation links.

[0186] Embodiment 4

[0187] See also Figure 7 , Figure 7 1 is a schematic diagram of another structure of a ground-based joint observation link optimization device disclosed in an embodiment of the present invention. Figure 7 The described ground-based joint observation link optimization device is applied to the field of satellite navigation technology. By optimizing the observation data of ground monitoring receivers and low-orbit satellite-borne monitoring receivers, the observation link data with poor observation geometry conditions can be effectively eliminated, and the dimension of the normal equation in the satellite orbit determination process can be reduced, thereby improving the efficiency of satellite orbit determination. The embodiments of the present invention are not limited. Figure 7 As shown, the space-ground joint observation link optimization device may include the following operations:

[0188] A memory 401 storing executable program codes;

[0189] a processor 402 coupled to the memory 401;

[0190] The processor 402 calls the executable program code stored in the memory 401 to execute the steps in the method for optimizing the ground-ground joint observation link described in the first and second embodiments.

[0191] The device embodiments described above are only illustrative, wherein the modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical modules, i.e., they may be located in one place, or they may be distributed on multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Those of ordinary skill in the art may understand and implement it without creative work.

[0192] Through the specific description of the above embodiments, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on such an understanding, the above technical solution can be essentially or partly contributed to the prior art in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, and the storage medium includes a read-only memory (ROM), a random access memory (RAM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), a one-time programmable read-only memory (OTPROM), an electronically erasable rewritable read-only memory (EEPROM), a compact disc (CD-ROM) or other optical disc storage, magnetic disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0193] Finally, it should be noted that the preferred method and device for a ground-based joint observation link disclosed in the embodiment of the present invention only discloses a preferred embodiment of the present invention, which is only used to illustrate the technical solution of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments can still be modified, or some of the technical features therein can be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for optimizing a ground-ground joint observation link, characterized in that: The method comprises: S1, obtaining a first spatial observation angle of a ground monitoring receiver to a target satellite and a second spatial observation angle of a low-orbit satellite-borne monitoring receiver to the target satellite; S2, processing the first space observation angle and the second space observation angle to obtain the total number of valid satellite-to-ground observation links and the total number of valid satellite-borne observation links; S3, processing the total number of valid satellite-to-ground observation links and the total number of valid satellite-borne observation links to obtain a preferred solution for the space-ground joint observation links, including: S31, when the sum of the total number of valid satellite-to-ground observation links n and the total number of valid satellite-borne observation links m is greater than or equal to a preset threshold k, the total number of valid satellite-to-ground observation links n, the total number of valid satellite-borne observation links m and the preset threshold k are processed to obtain a total number of observation geometry conditions. The total number of observation geometries The expression is: S32, processing the preset observation coefficient matrix to obtain Satellite position dilution of precision factor under these combination conditions; S33, for the The satellite position precision reduction factors under the various combination conditions are sorted in order from small to large, and the combined observation data corresponding to the satellite position precision reduction factors with the highest sorting are the preferred solutions for the space-ground joint observation link for the real-time solution of the space-ground joint orbit determination.

2. The method for optimizing the ground-ground joint observation link according to claim 1, characterized in that: The expression of the first space observation angle of the ground monitoring receiver to the target satellite is: Among them, α is the first spatial observation angle of the ground monitoring receiver to the target satellite, R OS is the distance from the target satellite to the center of the earth, R OG is the distance from the ground monitoring station to the center of the earth, R GS is the distance from the target satellite to the ground monitoring station.

3. The method for optimizing the ground-ground joint observation link according to claim 1, characterized in that: The second space observation angle expression of the low-orbit satellite onboard monitoring receiver to the target satellite is: Where β is the second space observation angle of the low-orbit satellite onboard monitoring receiver to the target satellite, R OS is the distance from the target satellite to the center of the earth, R OL is the distance from the low-orbit satellite to the center of the earth, R SL is the distance from the target satellite to the low-orbit satellite.

4. The method for optimizing the ground-ground joint observation link according to claim 1, characterized in that: The processing of the first space observation angle and the second space observation angle to obtain the total number of valid satellite-to-ground observation links and the total number of valid satellite-borne observation links includes: S21, processing the first space observation angle to obtain a total number n of effective satellite-to-ground observation links; S22, processing the second space observation angle to obtain the total number m of effective satellite-borne observation links.

5. The method for optimizing the ground-ground joint observation link according to claim 4, characterized in that: The processing of the first space observation angle to obtain the total number n of effective satellite-to-ground observation links includes: When the first spatial observation angle α satisfies α min ≤α≤α max When the ground monitoring station and the corresponding satellite-to-ground observation link are effective, α min is the minimum fixed value set according to the performance of ground monitoring receivers, α max This is a maximum fixed value set based on the performance of ground monitoring receivers; Count all valid satellite-to-ground observation links to obtain the total number n of valid satellite-to-ground observation links.

6. The method for optimizing the ground-ground joint observation link according to claim 4, characterized in that: The processing of the second space observation angle to obtain the total number m of effective onboard observation links includes: S221, obtaining the angle γ between the line connecting the low-orbit satellite to the center of the earth and the line connecting the target satellite to the center of the earth, the angle γ0 between the horizontal line of sight of the earth to the target satellite and the center of the earth, the beam angle β0 of the target satellite, and the angle β1 between the horizontal line of sight of the earth to the target satellite and the target satellite and the center of the earth; S222, when γ≤γ0 and β≤β0, the low-orbit satellite and the corresponding onboard observation link are valid; S223, when γ≥γ0 and β1≤β≤β0, the low-orbit satellite and the corresponding onboard observation link are valid; S224, counting the number of all valid satellite-borne observation links to obtain the total number m of valid satellite-borne observation links.

7. A device for optimizing a ground-ground joint observation link, characterized in that: The device comprises: A data acquisition module, used to acquire a first spatial observation angle of a ground monitoring receiver to a target satellite and a second spatial observation angle of a low-orbit satellite-borne monitoring receiver to the target satellite; an observation link total number calculation module, used to process the first space observation angle and the second space observation angle to obtain the total number of valid satellite-to-ground observation links and the total number of valid satellite-borne observation links; The observation link optimization scheme calculation module is used to process the total number of valid satellite-to-ground observation links and the total number of valid satellite-borne observation links to obtain a preferred scheme for the space-ground joint observation links, including: S31, when the sum of the total number of valid satellite-to-ground observation links n and the total number of valid satellite-borne observation links m is greater than or equal to a preset threshold k, the total number of valid satellite-to-ground observation links n, the total number of valid satellite-borne observation links m and the preset threshold k are processed to obtain a total number of observation geometry conditions. The total number of observation geometries The expression is: S32, processing the preset observation coefficient matrix to obtain Satellite position dilution of precision factor under these combination conditions; S33, for the The satellite position precision reduction factors under the various combination conditions are sorted in order from small to large, and the combined observation data corresponding to the satellite position precision reduction factors with the highest sorting are the preferred solutions for the space-ground joint observation link for the real-time solution of the space-ground joint orbit determination.

8. A device for optimizing a ground-ground joint observation link, characterized in that: The device comprises: A memory storing executable program code; a processor coupled to the memory; The processor calls the executable program code stored in the memory to execute the ground-ground joint observation link optimization method as described in any one of claims 1-6.

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