Satellite orbit maneuver prediction device and satellite orbit maneuver prediction method

Abstract

The invention provides a satellite orbit maneuver prediction device and a satellite orbit maneuver prediction method, and relates to the field of satellite maneuvers. The device comprises: an orbit dynamics model construction unit, which is used to establish an original orbit dynamics model according to the relative motion trajectory of the target satellite relative to a host satellite after each orbit maneuver of the target satellite; an orbit dynamics model optimization unit, which is used to correct the trajectory of the target satellite in the original orbit dynamics model by setting an error correction term based on the assumption that the respective orbits of the host satellite and the target satellite are approximately circular orbits, so as to obtain an optimized orbit dynamics model; and an orbit prediction unit, which is used to predict the orbit of the target satellite multiple times by using the optimized orbit dynamics model, and determine the orbit maneuver strategy of the target satellite when performing the next orbit maneuver according to the multiple predictions of the orbit of the target satellite, so as to improve the prediction accuracy of the target satellite during orbit prediction.

Description

Technical Field

[0001] The present invention relates to the field of satellite maneuvers, and in particular to a satellite orbit maneuver prediction device and a satellite orbit maneuver prediction method. Background Art

[0002] Orbital maneuver control is very common in the in-orbit activities of spacecraft, such as low-orbit satellites. By adjusting the speed and direction of the spacecraft, the spacecraft orbit is corrected or adjusted to achieve the goal of entering the preset orbit. Common types of orbital maneuvers include altitude hold, deorbit control, phase adjustment, orbital plane adjustment, formation control, etc.

[0003] To perform orbital control, spacecraft are usually equipped with thrusters, such as chemical thrusters, electric thrusters, and cold gas thrusters. The thrusters consume thruster fluid to generate thrust, thereby changing the spacecraft speed to achieve orbital maneuvers. For different orbital maneuvering missions, ground operators or the spacecraft guidance, navigation, and control system (GNC system for short) must combine the spacecraft's thruster system to accurately calculate the propulsion direction, ignition time, and ignition duration in order to obtain the ideal speed adjustment amount and complete the specified orbital adjustment target.

[0004] The propulsion direction, ignition time and ignition duration of the orbital maneuver are usually called the orbital maneuver strategy, which can be expressed by the speed increment required at a certain time, that is, t m , △V x , △V y , △V z Indicates that, t m is the ignition time, △V x , △V y , △V z They are the velocity increments in three directions expressed in a rectangular coordinate system.

[0005] Orbital maneuvers require the calculation of the required velocity increment and ignition time in advance. The above parameters are used as the parameters to be solved and solved. During the solution process, multiple orbit predictions are involved to analyze whether the spacecraft can meet the specified orbit adjustment requirements by applying velocity increments. Orbital predictions usually use dynamic numerical integration prediction methods, which involve a variety of perturbation force calculation problems, resulting in a slow prediction speed. A 3-day prediction usually takes 2 seconds. In the optimization strategy work that requires frequent adjustment of velocity increments and maneuvering moments, the overall optimization speed will be slowed down. Therefore, some simplified algorithms can be used to reduce the amount of calculation. For example, a 3-day ephemeris prediction only takes 10ms, which is widely used in collision avoidance, maneuvering strategy optimization, and rapid response analysis. However, simplified algorithms are bound to cause a loss of prediction accuracy. Summary of the invention

[0006] The present invention provides a satellite orbit maneuver prediction device and a satellite orbit maneuver prediction method, which can solve the technical problem of "loss of prediction accuracy caused by simplified algorithm for satellite orbit prediction" in the prior art.

[0007] To achieve the above-mentioned purpose, the first aspect of the present invention provides a satellite orbit maneuver prediction device, comprising:

[0008] An orbital dynamics model building unit is used to build an original orbital dynamics model of the target satellite from the moment of orbital maneuver of the target satellite according to the relative motion trajectory of the target satellite relative to the master satellite after each orbital maneuver of the target satellite, wherein the master satellite refers to the target satellite that has not performed orbital maneuvers;

[0009] An orbital dynamics model optimization unit is used to correct the trajectory of the target satellite in the original orbital dynamics model by setting an error correction term based on the assumption that the orbits of the primary satellite and the target satellite are both approximately circular orbits, so as to obtain an optimized orbital dynamics model, wherein the optimized orbital dynamics model can be used to calculate the relative position and relative speed of the target satellite with respect to the primary satellite after orbital maneuvers;

[0010] The orbit prediction unit is used to predict the orbit of the target satellite multiple times by using an optimized orbit dynamics model, and determine the orbit maneuvering strategy of the target satellite when performing the next orbit maneuver based on the multiple predictions of the orbit of the target satellite.

[0011] As a second aspect of the present invention, the present invention provides a satellite orbit maneuver prediction method, comprising:

[0012] After each orbital maneuver of the target satellite, an original orbital dynamics model of the target satellite from the moment of the orbital maneuver of the target satellite is established according to the relative motion trajectory of the target satellite relative to the master satellite, wherein the master satellite refers to the target satellite that has not performed orbital maneuvers;

[0013] Based on the assumption that the orbits of the primary satellite and the target satellite are both approximately circular orbits, the trajectory of the target satellite in the original orbital dynamics model is corrected by setting an error correction term to obtain an optimized orbital dynamics model, which can be used to calculate the relative position and relative speed of the target satellite relative to the primary satellite after orbital maneuvers;

[0014] The orbit of the target satellite is predicted multiple times using an optimized orbital dynamics model, and the orbital maneuvering strategy of the target satellite for the next orbital maneuver is determined based on the multiple predictions of the orbit of the target satellite.

[0015] As a third aspect of the present invention, the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores at least one program, and when the program is executed by a computer device, the computer device performs the aforementioned orbital maneuver prediction method.

[0016] As a fourth aspect of the present invention, the present invention provides a computer device, comprising:

[0017] A processor; and a memory used to store computer device executable instructions, which, when executed, cause the processor to perform the aforementioned orbit maneuver prediction method.

[0018] Advantageous effects of the present invention: Therefore, according to the relative motion trajectory of the target satellite with respect to the main satellite, the original orbital dynamics model of the target satellite is established from the moment of the target satellite orbit maneuver. The error of orbit prediction using the original orbital dynamics model is very large. Therefore, the trajectory of the target satellite in the original orbital dynamics model is corrected by setting an error correction item, the original orbital dynamics model is optimized, and the optimized orbital dynamics model is used to improve the accuracy of target satellite position prediction during orbit prediction. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The above and other objects, features and advantages of the present application will become more apparent by describing in detail the exemplary embodiments thereof with reference to the accompanying drawings. The accompanying drawings described below are only some embodiments of the present application, and it is clear to a person skilled in the art that other accompanying drawings can be obtained from these accompanying drawings without creative effort.

[0020] Figure 1 A logical structure diagram of a satellite orbit maneuver prediction device according to an embodiment of the present invention is schematically shown;

[0021] Figure 2 The error of orbit maneuver prediction using the CW equation in an embodiment of the present invention is schematically shown;

[0022] Figure 3 A schematic diagram schematically shows a correction diagram of the error of the radial distance of the target satellite when the CW equation is used in an embodiment of the present invention;

[0023] Figure 4 The prediction error when the orbit prediction is performed using the optimized orbit dynamics model according to the embodiment of the present invention is schematically shown;

[0024] Figure 5 The flowchart of a satellite orbit maneuver prediction method according to an embodiment of the present invention is schematically shown. DETAILED DESCRIPTION

[0025] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this application will be comprehensive and complete and will fully convey the concepts of the example embodiments to those skilled in the art. The same reference numerals in the figures represent the same or similar parts, and thus their repeated description will be omitted.

[0026] In addition, described feature, structure or characteristic can be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present application. However, those skilled in the art will appreciate that the technical scheme of the present application can be put into practice without one or more of the specific details, or other methods, components, devices, steps, etc. can be adopted. In other cases, known methods, devices, realizations or operations are not shown or described in detail to avoid blurring the various aspects of the application.

[0027] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities may be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0028] The flowcharts shown in the accompanying drawings are only exemplary and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps can be decomposed, and some operations / steps can be combined or partially combined, so the actual execution order may change according to actual conditions.

[0029] It should be understood that although the terms first, second, third, etc. may be used herein to describe various components, these components should not be limited by these terms. These terms are used to distinguish one component from another component. Therefore, the first component discussed below can be referred to as the second component without departing from the teachings of the concepts of the present application. As used herein, the term "and / or" includes any one of the associated listed items and all combinations of one or more.

[0030] Those skilled in the art will appreciate that the drawings are merely schematic diagrams of example embodiments, and the modules or processes in the drawings are not necessarily necessary for implementing the present application, and therefore cannot be used to limit the scope of protection of the present application.

[0031] like Figure 1 As shown, in combination with an embodiment of the present invention, a satellite orbit maneuver prediction device is provided, comprising:

[0032] The orbital dynamics model building unit 11 is used to build the original orbital dynamics model of the target satellite from the moment of the orbital maneuver of the target satellite according to the relative motion trajectory of the target satellite relative to the master satellite after each orbital maneuver of the target satellite, wherein the master satellite refers to the target satellite that has not performed orbital maneuvers;

[0033] The orbital dynamics model optimization unit 12 is used to correct the trajectory of the target satellite in the original orbital dynamics model by setting an error correction term based on the assumption that the orbits of the primary satellite and the target satellite are both approximately circular orbits, so as to obtain an optimized orbital dynamics model. The original orbital dynamics model is a simplified orbital dynamics model. In the optimized orbital dynamics model, the difference between the trajectory prediction of the target satellite and the high-precision model (the result of numerical integral prediction) is smaller, that is, the closer the difference between the trajectory of the target satellite and the trajectory of the primary satellite is, the more accurate the prediction of the trajectory of the target satellite will be. The optimized orbital dynamics model can be used to calculate the relative position and relative speed of the target satellite relative to the primary satellite after the orbital maneuver; wherein, the high-precision model refers to the calculation of the required velocity increment and ignition time in advance due to the orbital maneuver, and the above parameters are used as the parameters to be solved for solving. In the solving process, multiple orbital predictions are involved, and it is analyzed whether the target can meet the specified orbital adjustment requirements by applying the velocity increment. The use of a high-precision model for orbital prediction usually adopts a dynamic numerical integral prediction method, which involves a variety of perturbation force calculations. A simplified orbital dynamics model can reduce the amount of calculation, but will result in a loss of prediction accuracy.

[0034] The orbit prediction unit 13 is used to predict the orbit of the target satellite multiple times by using an optimized orbit dynamics model, and determine the orbit maneuvering strategy of the target satellite when performing the next orbit maneuver based on the multiple predictions of the orbit of the target satellite.

[0035] If the original orbital dynamics model is used, which is a simplified orbital dynamics model, the error gradually increases with the increase of velocity increment and forecast time length. According to the simulation results, for a target satellite with an orbital altitude of 500km, the forecast position error for 3 days reaches 700m under the condition of a velocity increment of 0.1m / s, and the error is mainly the radial position error, which can reach more than 500m. In collision warning, the radial position distance between the target satellite and the space target is the key basis for judging whether there is a collision risk. In general, the distance threshold is only 100 to 200m. If the forecast has a deviation of the order of 500m, it may cause a large number of missed alarms and false alarms in the collision avoidance calculation, making the collision avoidance strategy unreliable.

[0036] Therefore, according to the relative motion trajectory of the target satellite with respect to the main satellite, the original orbital dynamics model of the target satellite is established from the moment of the target satellite orbit maneuver. The error of orbit prediction using the original orbital dynamics model is very large. Therefore, the trajectory of the target satellite in the original orbital dynamics model is corrected by setting an error correction item, and the original orbital dynamics model is optimized. The optimized orbital dynamics model is used to improve the accuracy of the target satellite position prediction during orbit prediction.

[0037] Preferably, the original orbital dynamics model is represented by a CW equation.

[0038] The CW equation is a simplified algorithm. Using the CW equation to predict the orbit of the target satellite, it takes very little time to predict the multi-day ephemeris. However, because the CW equation is a simplified algorithm, there will be cumulative errors in the CW equation, so the position accuracy of the orbit prediction will be reduced.

[0039] Preferably, the track dynamics model building unit 11 is specifically used for:

[0040] Establish the primary star LVLH coordinate system: take the mass center of the primary star as the origin, the X-axis is along the direction of the geocentric radial vector, the Y-axis is located in the orbital plane of the primary star and is perpendicular to the X-axis and points to the direction of motion of the primary star, and the Z-axis is determined by the right-hand rule;

[0041] After each orbital maneuver of the target satellite, based on the assumption that the orbits of the primary satellite and the target satellite are both approximately circular orbits, the relative motion trajectory of the target satellite relative to the primary satellite in the primary satellite LVLH coordinate system is expressed as a CW equation. The CW equation is as follows:

[0042]

[0043] Wherein, n is the angular velocity of the master satellite, x0, y0, and z0 are the relative initial positions of the target satellite at the time of orbital maneuver in the master satellite LVLH coordinate system, and the relative initial positions x0, y0, and z0 are all zero. are the relative initial speeds of the target satellite at the time of orbital maneuver in the primary satellite LVLH coordinate system, and the relative initial speed is the speed increment of the orbital maneuver of the target satellite;

[0044] x, y, and z are the relative positions of the target satellite at time t after the orbital maneuver in the host satellite LVLH coordinate system. are the relative speeds of the target satellite at time t after the orbital maneuver in the host satellite LVLH coordinate system, and t represents the accumulated time after the orbital maneuver;

[0045] According to the relative initial position x0, y0, z0 are all zero, the CW equation is simplified to obtain the simplified CW equation:

[0046] .

[0047] Analyze the cumulative error problem of the CW equation and draw the orbital position diagram of the target satellite at an orbital altitude of 500km, such as Figure 2 , the trace direction corresponds to the Y direction, the normal direction corresponds to the Z direction, and the radial direction corresponds to the X direction. Figure 2 In (a), from top to bottom are the cumulative error curves corresponding to the track direction, normal direction, and radial direction. Figure 2 In (b), from top to bottom, the cumulative error curves corresponding to the track direction, normal direction, and radial direction are shown. Figure 2 , under the conditions that the velocity increments in the Y direction are 0.05m / s and 0.1m / s respectively, the radial position error predicted by numerical integration iteration using the CW equation for 3 days (corresponding to the extrapolation time of the horizontal axis) reaches 700m. It can be seen that the radial position error is very large, completely exceeding the distance threshold (100 to 200m). Therefore, it is necessary to optimize the CW equation to improve the orbit prediction accuracy of the target satellite.

[0048] Preferably, the track dynamics model optimization unit is specifically used for:

[0049] Based on the assumption that the orbits of the primary satellite and the target satellite are respectively approximately circular orbits, in the original orbital dynamics model, the error of the radial distance of the target satellite relative to the primary satellite in the radial direction of the primary satellite's orbit is used as an error term to correct the original orbital dynamics model to obtain an optimized orbital dynamics model.

[0050] pass Figure 2 It can be clearly seen that when the CW equation with a simplified algorithm is used for orbit prediction, the position error mainly has two aspects, one is the track direction (Y direction), and the other is the radial direction (X direction). Both increase with the increase of the velocity increment, and the position error increases. According to the analysis of the CW equation calculation method, the increase in the distance between the non-maneuvering trajectory of the primary satellite and the maneuvering trajectory of the target satellite in the Y direction is not considered during the calculation process. Therefore, in the embodiment of the present invention, the radial distance of the target satellite relative to the primary satellite is corrected in the radial direction of the primary satellite's orbit to obtain an optimized orbital dynamics model, thereby improving the accuracy of the target satellite in the radial direction during orbit prediction.

[0051] Preferably, the track dynamics model optimization unit 12 is specifically used for:

[0052] In the radial direction of the main satellite trajectory, the change in the radial distance of the target satellite relative to the main satellite is expressed as:

[0053] ;

[0054] Wherein, △x represents the change in the radial distance of the target satellite relative to the primary star, a represents the semi-major axis of the orbit of the primary star, and y represents the distance between the target satellite and the primary star on the orbit of the primary star at the same time;

[0055] The change in the radial distance of the target satellite relative to the host satellite is added as an error term into the simplified CW equation to obtain an optimized orbital dynamics model.

[0056] The principle of the radial distance change of the target satellite caused by Figure 3 , A is the main satellite, B is the target satellite, and is the radial angle between the main satellite and the target satellite in the main satellite's orbit at the same moment. Because the orbit of the target satellite is circular, as the distance between the non-maneuverable orbit of the main satellite and the maneuverable orbit of the target satellite increases. However, the CW equation does not take into account the change in radial distance of the target satellite. Therefore, in an embodiment of the present invention, the influence of the circular orbit is taken into account, and the CW equation is corrected and optimized according to the change in radial distance caused by the circle, and the change in radial distance of the target satellite relative to the main satellite is obtained. The change in radial distance of the target satellite relative to the main satellite is added to the simplified CW equation, and the simplified CW equation is corrected as an error correction term to obtain an optimized orbital dynamics model. The use of the optimized orbital dynamics model can improve the accuracy of orbit prediction.

[0057] Preferably, the orbit prediction unit 13 is specifically used for:

[0058] The optimized orbital dynamics model is used to calculate the relative position and relative velocity of the target satellite at multiple consecutive moments t after the orbital maneuver, and the relative position and relative velocity at the next moment t are iteratively calculated in the optimized orbital dynamics model based on the relative position and relative velocity at the previous moment t.

[0059] By converting the relative position and relative velocity at each moment t into an inertial coordinate system, the absolute position and absolute velocity of the target satellite can be obtained.

[0060] Using the optimized orbital dynamics model, the maneuvering orbit of the target satellite is recalculated, the predicted position error is analyzed and numerically integrated, and the predicted error of the maneuvering orbit of the target satellite is recalculated as follows: Figure 4 As shown, in Figure 4 In (a), from top to bottom are the cumulative error curves corresponding to the track direction, normal direction, and radial direction. Figure 4 In (b), from top to bottom, the cumulative error curves corresponding to the track direction, normal direction, and radial direction are shown. Figure 4It can be seen that after the radial distance of the target satellite is modified, the divergence of the radial prediction position error can be better suppressed, making the orbit prediction of the target satellite more accurate. Therefore, it can enhance the applicability of on-orbit control strategy optimization, collision avoidance strategy formulation and on-board autonomous control.

[0061] In addition, when the optimized orbital dynamics model is used for multiple orbital predictions, the amount of calculation is also very small, which will reduce the calculation time of each orbital prediction, speed up the iteration speed, and reduce the total time of multiple orbital predictions. And because the amount of calculation is very small, a low computing power platform can be used to save costs.

[0062] like Figure 5 As shown, in combination with an embodiment of the present invention, a satellite orbit maneuver prediction method is provided, comprising:

[0063] S10: after each orbital maneuver of the target satellite, an original orbital dynamics model of the target satellite from the moment of the orbital maneuver of the target satellite is established according to the relative motion trajectory of the target satellite relative to the master satellite, wherein the master satellite refers to the target satellite that has not performed the orbital maneuver;

[0064] S20: Based on the assumption that the orbits of the primary satellite and the target satellite are both approximately circular orbits, the trajectory of the target satellite in the original orbital dynamics model is corrected by setting an error correction term to obtain an optimized orbital dynamics model. In the optimized orbital dynamics model, the difference between the trajectory prediction of the target satellite and the high-precision model (the result of numerical integration prediction) is smaller, that is, the closer the difference between the trajectory of the target satellite and the trajectory of the primary satellite is, the more accurate the prediction of the trajectory of the target satellite will be. The optimized orbital dynamics model can be used to calculate the relative position and relative speed of the target satellite with respect to the primary satellite after the orbital maneuver;

[0065] S30: using an optimized orbital dynamics model to predict the orbit of the target satellite multiple times, and determining an orbital maneuvering strategy for the target satellite when performing a next orbital maneuver based on the multiple predictions of the orbit of the target satellite.

[0066] If the original orbital dynamics model is used, the error will gradually increase with the increase of velocity increment and forecast time length. According to the simulation results, for a target satellite with an orbital altitude of 500km, the forecast position error for 3 days reaches 700m under the condition of a velocity increment of 0.1m / s, and the error is mainly the radial position error, which can reach more than 500m. In collision warning, the radial position distance between the target satellite and the space target is the key basis for judging whether there is a collision risk. In general, the distance threshold is only 100 to 200m. If the forecast has a deviation of the order of 500m, it may cause a large number of missed alarms and false alarms in the collision avoidance calculation, making the collision avoidance strategy unreliable.

[0067] Therefore, according to the relative motion trajectory of the target satellite with respect to the main satellite, the original orbital dynamics model of the target satellite is established from the moment of the target satellite orbit maneuver. The error of orbit prediction using the original orbital dynamics model is very large. Therefore, the trajectory of the target satellite in the original orbital dynamics model is corrected by setting an error correction item, and the original orbital dynamics model is optimized. The optimized orbital dynamics model is used to improve the accuracy of the target satellite position prediction during orbit prediction.

[0068] Preferably, the original orbital dynamics model is represented by a CW equation.

[0069] The CW equation is a simplified algorithm. Using the CW equation to predict the orbit of the target satellite, it takes very little time to predict the multi-day ephemeris. However, because the CW equation is a simplified algorithm, there will be cumulative errors in the CW equation, so the position accuracy of the orbit prediction will be reduced.

[0070] Preferably, S10: after each orbital maneuver of the target satellite, an original orbital dynamics model of the target satellite from the moment of the orbital maneuver of the target satellite is established according to the relative motion trajectory of the target satellite relative to the host satellite, including:

[0071] Establish the primary star LVLH coordinate system: take the mass center of the primary star as the origin, the X-axis is along the direction of the geocentric radial vector, the Y-axis is located in the orbital plane of the primary star and is perpendicular to the X-axis and points to the direction of motion of the primary star, and the Z-axis is determined by the right-hand rule;

[0072] After each orbital maneuver of the target satellite, based on the assumption that the orbits of the primary satellite and the target satellite are both approximately circular orbits, the relative motion trajectory of the target satellite relative to the primary satellite in the primary satellite LVLH coordinate system is expressed as a CW equation. The CW equation is as follows:

[0073]

[0074] Wherein, n is the angular velocity of the master satellite, x0, y0, and z0 are the relative initial positions of the target satellite at the time of orbital maneuver in the master satellite LVLH coordinate system, and the relative initial positions x0, y0, and z0 are all zero. are the relative initial speeds of the target satellite at the time of orbital maneuver in the primary satellite LVLH coordinate system, and the relative initial speed is the speed increment of the orbital maneuver of the target satellite;

[0075] x, y, and z are the relative positions of the target satellite at time t after the orbital maneuver in the host satellite LVLH coordinate system. are the relative speeds of the target satellite at time t after the orbital maneuver in the host satellite LVLH coordinate system, and t represents the accumulated time after the orbital maneuver;

[0076] According to the relative initial position x0, y0, z0 are all zero, the CW equation is simplified to obtain the simplified CW equation:

[0077] .

[0078] Analyze the cumulative error problem of the CW equation and draw the orbital position diagram of the target satellite at an orbital altitude of 500km, such as Figure 2 , the trace direction corresponds to the Y direction, the normal direction corresponds to the Z direction, and the radial direction corresponds to the X direction. Figure 2 Under the conditions that the velocity increments in the Y direction are 0.05m / s and 0.1m / s respectively, the radial position error predicted by numerical integration iteration using the CW equation for 3 days (corresponding to the extrapolation time of the horizontal axis) reaches 700m. It can be seen that the radial position error is large. In the application of collision warning and collision avoidance, it exceeds the safety distance threshold (100 to 200m), resulting in unreliable forecast results. Therefore, it is necessary to optimize the CW equation to improve the orbit prediction accuracy of the target satellite.

[0079] Preferably, S20: based on the assumption that the orbits of the primary satellite and the target satellite are respectively approximately circular orbits, the trajectory of the target satellite in the original orbital dynamics model is corrected by setting an error correction term to obtain an optimized orbital dynamics model, including:

[0080] Based on the assumption that the orbits of the primary satellite and the target satellite are respectively approximately circular orbits, in the original orbital dynamics model, the error of the radial distance of the target satellite relative to the primary satellite in the radial direction of the primary satellite's orbit is used as an error term to correct the original orbital dynamics model to obtain an optimized orbital dynamics model.

[0081] pass Figure 2 It can be clearly seen that when the CW equation with a simplified algorithm is used for orbit prediction, the position error mainly has two aspects, one is the track direction (Y direction), and the other is the radial direction (X direction). Both increase with the increase of the velocity increment, and the position error increases. According to the analysis of the CW equation calculation method, the increase in the distance between the non-maneuvering trajectory of the primary satellite and the maneuvering trajectory of the target satellite in the Y direction is not considered during the calculation process. Therefore, in the embodiment of the present invention, the radial distance of the target satellite relative to the primary satellite is corrected in the radial direction of the primary satellite's orbit to obtain an optimized orbital dynamics model, thereby improving the accuracy of the target satellite in the radial direction during orbit prediction.

[0082] Preferably, based on the assumption that the orbits of the primary satellite and the target satellite are both approximately circular orbits, in the original orbital dynamics model, the radial distance of the target satellite relative to the primary satellite is corrected in the radial direction of the primary satellite's orbit to obtain an optimized orbital dynamics model, including:

[0083] Based on the assumption that the orbits of the primary satellite and the target satellite are both approximately circular orbits, the change in the radial distance of the target satellite relative to the primary satellite in the radial direction of the primary satellite's orbit is expressed as:

[0084] ;

[0085] Wherein, △x represents the change in the radial distance of the target satellite relative to the primary star, a represents the semi-major axis of the orbit of the primary star, and y represents the distance between the target satellite and the primary star on the orbit of the primary star at the same time;

[0086] The change in the radial distance of the target satellite relative to the host satellite is added as an error term into the simplified CW equation to obtain an optimized orbital dynamics model.

[0087] The principle of the radial distance change of the target satellite caused by Figure 3 , A is the main satellite, B is the target satellite, and is the radial angle between the main satellite and the target satellite in the main satellite's orbit at the same moment. Because the orbit of the target satellite is circular, as the distance between the non-maneuverable orbit of the main satellite and the maneuverable orbit of the target satellite increases. However, the CW equation does not take into account the change in radial distance of the target satellite. Therefore, in an embodiment of the present invention, the influence of the circular orbit is taken into account, and the CW equation is corrected and optimized according to the change in radial distance caused by the circle, and the change in radial distance of the target satellite relative to the main satellite is obtained. The change in radial distance of the target satellite relative to the main satellite is added to the simplified CW equation, and the simplified CW equation is corrected as an error correction term to obtain an optimized orbital dynamics model. The use of the optimized orbital dynamics model can improve the accuracy of orbit prediction.

[0088] Preferably, S30: using the optimized orbital dynamics model to predict the orbit of the target satellite multiple times, including:

[0089] The optimized orbital dynamics model is used to calculate the relative position and relative velocity of the target satellite at multiple consecutive moments t after the orbital maneuver, and the relative position and relative velocity at the next moment t are iteratively calculated in the optimized orbital dynamics model based on the relative position and relative velocity at the previous moment t.

[0090] By converting the relative position and relative velocity at each moment t into an inertial coordinate system, the absolute position and absolute velocity of the target satellite can be obtained.

[0091] The target satellite's maneuvering orbit is recalculated by optimizing the orbital dynamics model, and the position error is predicted by analysis and numerical integration. The maneuvering orbit of the target satellite is recalculated as follows: Figure 4 As shown. Figure 4 It can be seen that after the radial distance of the target satellite is modified, the divergence of the radial prediction position error can be better suppressed, making the orbit prediction of the target satellite more accurate. Therefore, it can enhance the applicability of on-orbit control strategy optimization, collision avoidance strategy formulation and on-board autonomous control.

[0092] In addition, when the optimized orbital dynamics model is used for multiple orbital predictions, the amount of calculation is also very small, which will reduce the calculation time of each orbital prediction, speed up the iteration speed, and reduce the total time of multiple orbital predictions. And because the amount of calculation is very small, a low computing power platform can be used to save costs.

[0093] In combination with an embodiment of the present invention, a computer-readable storage medium is also provided, wherein the computer-readable storage medium stores at least one program, and when the program is executed by a computer device, the computer device executes any of the aforementioned orbital maneuver prediction methods.

[0094] It is easy for those skilled in the art to understand that the example implementation described here can be implemented by software or by combining software with necessary hardware. The computer-readable medium can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which can be a personal computer, a server, or a network device, etc.) to execute the above method according to the implementation of the present invention.

[0095] The software product may be any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, a system, device or component of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination thereof. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0096] The computer readable storage medium may include a data signal propagated in a baseband or as part of a carrier wave, wherein a readable program code is carried. This propagated data signal may take a variety of forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination of the above. The readable storage medium may also be any readable medium other than a readable storage medium, which may send, propagate, or transmit a program for use by an instruction execution system, an apparatus, or a device or used in combination with it. The program code contained on the readable storage medium may be transmitted with any appropriate medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination of the above.

[0097] Program code for performing the operations of the present invention may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0098] In conjunction with an embodiment of the present invention, a computer device is further provided, including:

[0099] A processor; and a memory used to store executable instructions of a computer device, wherein when the executable instructions are executed, the processor executes any one of the aforementioned orbit maneuver prediction methods.

[0100] Therefore, the technical solution according to the embodiment of the present invention can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, and includes a number of instructions to enable a computing device (which can be a personal computer, a server, a mobile terminal, or a network device, etc.) to execute the method according to the embodiment of the present invention.

[0101] The exemplary embodiments of the present invention are specifically shown and described above. It should be understood that the present invention is not limited to the detailed structure, configuration or implementation method described herein; on the contrary, the present invention is intended to cover various modifications and equivalent configurations included in the spirit and scope of the appended claims.

Claims

1. A satellite orbit maneuver prediction device, characterized in that: include: An orbital dynamics model building unit is used to establish an original orbital dynamics model of the target satellite from the moment of orbital maneuver of the target satellite according to the relative motion trajectory of the target satellite relative to the master satellite after each orbital maneuver of the target satellite, wherein the original orbital dynamics model is represented by a CW equation, and the master satellite refers to the target satellite that has not performed orbital maneuvers; An orbital dynamics model optimization unit is used to correct the trajectory of the target satellite in the original orbital dynamics model by setting an error correction term based on the assumption that the orbits of the primary satellite and the target satellite are both approximately circular orbits, so as to obtain an optimized orbital dynamics model, wherein the optimized orbital dynamics model can be used to calculate the relative position and relative speed of the target satellite with respect to the primary satellite after orbital maneuvers; An orbit prediction unit, used to predict the orbit of the target satellite multiple times by using an optimized orbit dynamics model, and determine an orbit maneuvering strategy for the target satellite when performing the next orbit maneuver based on the multiple predictions of the orbit of the target satellite; The track dynamics model building unit is specifically used for: After each orbital maneuver of the target satellite, based on the assumption that the orbits of the primary satellite and the target satellite are both approximately circular orbits, the relative motion trajectory of the target satellite relative to the primary satellite in the primary satellite LVLH coordinate system is expressed as a CW equation. The CW equation is as follows: Wherein, n is the angular velocity of the master satellite, x0, y0, and z0 are the relative initial positions of the target satellite at the time of orbital maneuver in the master satellite LVLH coordinate system, and the relative initial positions x0, y0, and z0 are all zero. are the relative initial speeds of the target satellite at the time of orbital maneuver in the primary satellite LVLH coordinate system, and the relative initial speed is the speed increment of the orbital maneuver of the target satellite; x, y, and z are the relative positions of the target satellite at time t after the orbital maneuver in the host satellite LVLH coordinate system. are the relative speeds of the target satellite at time t after the orbital maneuver in the host satellite LVLH coordinate system, and t represents the accumulated time after the orbital maneuver.

2. The orbital maneuver prediction device according to claim 1, characterized in that: The track dynamics model building unit is also used for: Establish the primary star LVLH coordinate system: take the mass center of the primary star as the origin, the X-axis is along the direction of the geocentric radial vector, the Y-axis is located in the orbital plane of the primary star and is perpendicular to the X-axis and points to the direction of motion of the primary star, and the Z-axis is determined by the right-hand rule; According to the relative initial position x0, y0, z0 are all zero, the CW equation is simplified to obtain the simplified CW equation: 。 3. The orbit maneuver prediction device according to claim 2, characterized in that: The track dynamics model optimization unit is specifically used for: Based on the assumption that the orbits of the primary satellite and the target satellite are respectively approximately circular orbits, in the original orbital dynamics model, the error of the radial distance of the target satellite relative to the primary satellite in the radial direction of the primary satellite's orbit is used as an error term to correct the original orbital dynamics model to obtain an optimized orbital dynamics model.

4. The orbit maneuver prediction device according to claim 3, characterized in that: The track dynamics model optimization unit is specifically used for: In the radial direction of the main satellite trajectory, the change in the radial distance of the target satellite relative to the main satellite is expressed as: ； Wherein, △x represents the change in the radial distance of the target satellite relative to the primary star, a represents the semi-major axis of the orbit of the primary star, and y represents the distance between the target satellite and the primary star on the orbit of the primary star at the same time; The change in the radial distance of the target satellite relative to the host satellite is added as an error term into the simplified CW equation to obtain an optimized orbital dynamics model.

5. The orbital maneuver prediction device according to claim 1, characterized in that: The orbit prediction unit is specifically used for: The optimized orbital dynamics model is used to calculate the relative position and relative velocity of the target satellite at multiple consecutive moments t after the orbital maneuver, and the relative position and relative velocity at the next moment t are iteratively calculated in the optimized orbital dynamics model based on the relative position and relative velocity at the previous moment t. By performing coordinate transformation on the relative position and relative velocity at each moment t, the absolute position and absolute velocity of the target satellite can be obtained.

6. A satellite orbit maneuver prediction method, characterized in that: include: After each orbital maneuver of the target satellite, an original orbital dynamics model of the target satellite from the moment of the orbital maneuver of the target satellite is established according to the relative motion trajectory of the target satellite relative to the master satellite, wherein the original orbital dynamics model is represented by a CW equation, and the master satellite refers to the target satellite that has not performed an orbital maneuver; Based on the assumption that the orbits of the primary satellite and the target satellite are both approximately circular orbits, the trajectory of the target satellite in the original orbital dynamics model is corrected by setting an error correction term to obtain an optimized orbital dynamics model, which can be used to calculate the relative position and relative speed of the target satellite relative to the primary satellite after orbital maneuvers; The orbit of the target satellite is predicted multiple times by using an optimized orbital dynamics model, and the orbital maneuvering strategy of the target satellite when performing the next orbital maneuver is determined based on the multiple predictions of the orbit of the target satellite; After each orbital maneuver of the target satellite, an original orbital dynamics model of the target satellite from the moment of the orbital maneuver of the target satellite is established according to the relative motion trajectory of the target satellite relative to the host satellite, including: After each orbital maneuver of the target satellite, based on the assumption that the orbits of the primary satellite and the target satellite are both approximately circular orbits, the relative motion trajectory of the target satellite relative to the primary satellite in the primary satellite LVLH coordinate system is expressed as a CW equation. The CW equation is as follows: Wherein, n is the angular velocity of the master satellite, x0, y0, and z0 are the relative initial positions of the target satellite at the time of orbital maneuver in the master satellite LVLH coordinate system, and the relative initial positions x0, y0, and z0 are all zero. are the relative initial speeds of the target satellite at the time of orbital maneuver in the primary satellite LVLH coordinate system, and the relative initial speed is the speed increment of the orbital maneuver of the target satellite; x, y, and z are the relative positions of the target satellite at time t after the orbital maneuver in the host satellite LVLH coordinate system. are the relative speeds of the target satellite at time t after the orbital maneuver in the host satellite LVLH coordinate system, and t represents the accumulated time after the orbital maneuver.

7. The orbital maneuver prediction method according to claim 6, characterized in that: The method of establishing the original orbital dynamics model of the target satellite from the moment of the orbital maneuver of the target satellite according to the relative motion trajectory of the target satellite relative to the host satellite after each orbital maneuver of the target satellite also includes: Establish the primary star LVLH coordinate system: take the mass center of the primary star as the origin, the X-axis is along the direction of the geocentric radial vector, the Y-axis is located in the orbital plane of the primary star and is perpendicular to the X-axis and points to the direction of motion of the primary star, and the Z-axis is determined by the right-hand rule; According to the relative initial position x0, y0, z0 are all zero, the CW equation is simplified to obtain the simplified CW equation: 。 8. The orbital maneuver prediction method according to claim 7, characterized in that: Based on the assumption that the orbits of the primary satellite and the target satellite are both approximately circular orbits, the trajectory of the target satellite in the original orbital dynamics model is corrected by setting an error correction term to obtain an optimized orbital dynamics model, including: Based on the assumption that the orbits of the primary satellite and the target satellite are respectively approximately circular orbits, in the original orbital dynamics model, the error of the radial distance of the target satellite relative to the primary satellite in the radial direction of the primary satellite's orbit is used as an error term to correct the original orbital dynamics model to obtain an optimized orbital dynamics model.

9. The orbital maneuver prediction method according to claim 8, characterized in that: Based on the assumption that the orbits of the primary satellite and the target satellite are both approximately circular orbits, in the original orbital dynamics model, the radial distance of the target satellite relative to the primary satellite is corrected in the radial direction of the primary satellite's orbit to obtain an optimized orbital dynamics model, including: Based on the assumption that the orbits of the primary satellite and the target satellite are both approximately circular orbits, the change in the radial distance of the target satellite relative to the primary satellite in the radial direction of the primary satellite's orbit is expressed as: ； Wherein, △x represents the change in the radial distance of the target satellite relative to the primary star, a represents the semi-major axis of the orbit of the primary star, and y represents the distance between the target satellite and the primary star on the orbit of the primary star at the same time; The change in the radial distance of the target satellite relative to the host satellite is added as an error term into the simplified CW equation to obtain an optimized orbital dynamics model.

10. The orbital maneuver prediction method according to claim 9, characterized in that: The method of using the optimized orbital dynamics model to predict the orbit of the target satellite multiple times includes: The optimized orbital dynamics model is used to calculate the relative position and relative velocity of the target satellite at multiple consecutive moments t after the orbital maneuver, and the relative position and relative velocity at the next moment t are iteratively calculated in the optimized orbital dynamics model based on the relative position and relative velocity at the previous moment t. By performing coordinate transformation on the relative position and relative velocity at each moment t, the absolute position and absolute velocity of the target satellite can be obtained.

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