Autonomous orbit determination data switching output method of navigation positioning system

Abstract

The invention discloses an orbit determination data autonomous switching output method of a navigation positioning system. The orbit determination data autonomous switching output method has a hierarchical autonomous monitoring function, an autonomous execution function and an autonomous reporting function. The first-stage autonomous monitoring function, the autonomous execution function and the autonomous reporting function are used for sequentially completing identification, monitoring and positioning of the orbital transfer state of the remote sensing satellite and switching of orbit determination data output, and reporting state telemetering representing a current orbit determination data output strategy to the whole satellite; and then entering a second-stage autonomous monitoring function, an autonomous execution function and an autonomous reporting function, and sequentially completing identification and monitoring of orbital transfer ending of the remote sensing satellite, initialization and positioning of a filter, switching of orbit determination data output and state telemetering reporting of an orbit determination output strategy of the whole satellite. According to the method, the precision of the output position and speed data and orbit data can be ensured, and the position and speed data and the orbit data can be ensured not to be interrupted, so that the continuity of a satellite task is ensured.

Description

Technical Field

[0001] The invention belongs to the technical field of satellite-borne navigation and positioning systems, and in particular relates to an autonomous switching output method for orbit determination data of a navigation and positioning system. Background Art

[0002] With the continuous development of remote sensing technology, remote sensing satellites are often equipped with navigation and positioning systems to provide high-precision position and velocity information, orbit information, time information, etc. for satellite platforms and remote sensing payloads to assist satellites / payloads in performing tasks. The high-precision orbit information output by the navigation and positioning system includes not only single-point positioning results, but also introduces a simplified orbital dynamics model for orbit integration, and corrects the orbit with GNSS measurement data to obtain stable and reliable orbit determination data.

[0003] During the remote sensing satellite mission, in order to reach or maintain the target orbit, it is necessary to rely on the thrust system to perform multiple orbit adjustments. Considering the design cost of the navigation and positioning system and the low frequency of in-orbit orbit adjustments, the orbital dynamics model used by the navigation and positioning system usually does not introduce thrust information. During the orbit adjustment process, the orbit data output by the navigation and positioning system may have large deviations, and even filter divergence and invalid orbit determination may occur, resulting in interruption of orbit data, which cannot meet the use requirements of the entire satellite and payload, and even affect the execution effect of the entire satellite mission.

[0004] Without considering the introduction of thrust information conditions, the prior art has not specifically formulated an effective and automatic method to avoid the above-mentioned shortcomings in the remote sensing satellite orbit adjustment process. Usually, the orbit determination filter is restarted by a single reliability strategy such as filter divergence judgment set by the internal software of the navigation and positioning system. In order to ensure the stability of the system, the orbit determination filter restart threshold is often designed for fault tolerance, resulting in problems such as untimely orbit determination filter restart operation and difficulty in quantifying the impact duration, which affects the stability and accuracy of the entire satellite mission; the navigation system orbit determination module is restarted by analyzing and interpreting the telemetry of the entire satellite through the ground measurement and control arc, and uplinking remote control commands. The orbit determination module uses the orbit maintenance task injected from the ground before the orbit determination module is established, which does not have autonomy and occupies the precious measurement and control arc time during the satellite orbit change, and does not meet the design principles of "good usability" and "ease of use" of remote sensing satellites. Summary of the invention

[0005] The technical problem solved by the present invention is: to overcome the shortcomings of the prior art and provide a method for autonomously switching and outputting orbit determination data of a navigation and positioning system, which can not only ensure the accuracy of the output position speed data and orbit data, but also ensure the uninterrupted position speed data and orbit data, so that the continuity of the satellite mission is guaranteed.

[0006] The object of the present invention is achieved through the following technical scheme: a method for autonomously switching and outputting orbit determination data of a navigation and positioning system, comprising: step S1: an interactive interface unit of a GNSS receiver receives a satellite positioning and orbit determination data packet transmitted by the entire satellite, and monitors the satellite orbit state telemetry mode word in the satellite positioning and orbit determination data packet; step S2: if the satellite orbit state telemetry mode word is continuously judged as "changing orbit" for more than a preset time, then step S3 is entered, otherwise, step S1 is returned; step S3: the interactive interface unit of the GNSS receiver monitors whether the navigation information processing unit of the GNSS receiver is in a "positioning valid" state, and if it is in the "positioning valid" state, the navigation information processing unit of the GNSS receiver outputs The single-point positioning PVT data and the original observation information are sent to the orbit determination calculation unit of the GNSS receiver, and the process goes to step S4, otherwise it returns to step S1; step S4: the interactive interface unit autonomously sends the "orbit determination data output prohibited" instruction to the orbit determination calculation unit; after receiving the "orbit determination data output prohibited" instruction, the orbit determination calculation unit turns off the orbit determination function; step S5: the interactive interface unit autonomously sends the "positioning data conversion output" instruction to the orbit determination calculation unit, after receiving the "positioning data conversion output" instruction, the orbit determination calculation unit performs coordinate conversion on the single-point positioning PVT data to obtain positioning and orbit determination data, and the orbit determination calculation unit sends the positioning and orbit determination data and the original observation information to the interactive interface of the GNSS receiver Unit; Step S6: The interactive interface unit reports the telemetry value of the current navigation system working mode and the telemetry value of the current orbit determination data output strategy to the entire satellite; Step S7: The interactive interface unit receives the second satellite positioning orbit determination data packet transmitted by the entire satellite, and monitors the second satellite orbit state telemetry mode word in the second satellite positioning orbit determination data packet; Step S8: If the satellite orbit state telemetry mode word is continuously judged to be "normal" for more than a preset time, then enter step S9, otherwise return to step S7; Step S9: The interactive interface unit of the GNSS receiver autonomously sends a "filter initialization" instruction to the orbit determination calculation unit. After receiving the "filter initialization" instruction, the orbit determination calculation unit performs single-point positioning PVT data. Processing is performed to obtain positioning and orbit determination data corrected by the extended Kalman filter function; step S10: the interactive interface unit monitors whether the orbit determination calculation unit is in the "orbit determination effective real-time filtering" state, and if it is in the "orbit determination effective real-time filtering" state, enters step S11; step S11: the interactive interface unit autonomously sends an "orbit determination data output allowed" instruction to the orbit determination calculation unit. After the orbit determination calculation unit receives the "orbit determination data output allowed" instruction, the orbit determination calculation unit outputs the positioning and orbit determination data corrected by the extended Kalman filter function and the original observation information to the interactive interface unit; step S12: the interactive interface unit reports the current navigation system working mode telemetry value and the current orbit determination data output strategy telemetry value to the entire satellite.

[0007] In the autonomous switching output method of orbit determination data of the above-mentioned navigation and positioning system, the satellite orbit status telemetry mode word is continuously judged as "changing orbit" for more than 10 seconds.

[0008] In the autonomous switching and output method of orbit determination data of the above-mentioned navigation and positioning system, the orbit determination calculation unit performs coordinate conversion on the single-point positioning PVT data to obtain positioning orbit determination data, including: converting the single-point positioning PVT data from the WGS84 coordinate system to the J2000 coordinate system to obtain positioning data in the J2000 coordinate system; converting the positioning data in the 2000 coordinate system into six instantaneous orbit numbers in the J2000 coordinate system.

[0009] In the autonomous switching output method of orbit determination data of the above-mentioned navigation and positioning system, in step S6, the interactive interface unit uses the satellite orbit status telemetry mode word "changing orbit" as the navigation system working mode telemetry value "changing orbit mode", uses the positioning orbit determination data and the original observation information as the orbit determination data output strategy telemetry value, and reports the navigation system working mode telemetry value and the orbit determination data output strategy telemetry value to the entire satellite.

[0010] In the autonomous switching output method of orbit determination data of the above navigation and positioning system, the interactive interface unit fills the telemetry value of the current navigation system working mode and the telemetry value of the current orbit determination data output strategy into the fast transmission telemetry frame and reports it to the entire satellite.

[0011] In the autonomous switching output method of orbit determination data of the above navigation and positioning system, the satellite orbit status telemetry mode word is continuously judged as "normal" for more than 10 seconds.

[0012] In the autonomous switching output method of orbit determination data of the above navigation and positioning system, the positioning and orbit determination data corrected by the extended Kalman filter function includes the positioning data corrected by the extended Kalman filter function and six instantaneous orbit numbers.

[0013] In the autonomous switching output method of orbit determination data of the above-mentioned navigation and positioning system, in step S12, the interactive interface unit uses the satellite orbit status telemetry mode word "normal" as the navigation system working mode telemetry value "normal mode", uses the positioning orbit determination data and the original observation information corrected by the extended Kalman filter function as the orbit determination data output strategy telemetry value, and reports the navigation system working mode telemetry value and the orbit determination data output strategy telemetry value to the entire satellite.

[0014] In the autonomous switching output method of orbit determination data of the above navigation and positioning system, the interactive interface unit fills the telemetry value of the current navigation system working mode and the telemetry value of the current orbit determination data output strategy into the fast transmission telemetry frame and reports it to the entire satellite.

[0015] An electronic device comprises: a memory for storing computer-readable instructions; and a processor for running the computer-readable instructions to execute an autonomous switching output method for orbit determination data of a navigation and positioning system.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] (1) Compared with not switching the orbit determination data output or relying on the single filter restart strategy of the internal software reliability strategy of the navigation system during the orbit change of the remote sensing satellite, the orbit determination data output strategy proposed by the present invention can not only ensure the accuracy of the output position velocity data and orbit data, but also ensure the uninterrupted position velocity data and orbit data, so that the continuity of the satellite mission is guaranteed;

[0018] (2) The autonomous switching and output method of the orbit determination data of the navigation and positioning system proposed in the present invention includes autonomous detection, autonomous execution, and autonomous reporting functions, which can be completely implemented autonomously on the satellite, without relying on the uplink remote control instructions of the ground measurement and control arc segment for operation, and without relying on the downlink telemetry of the ground measurement and control arc segment for interpretation and analysis;

[0019] (3) The autonomous switching output function of the orbit determination data of the navigation and positioning system during the orbit change process of the remote sensing satellite proposed in the present invention can be set to an "enable" or "disable" state through instructions, making the method flexible and controllable in the entire satellite mission;

[0020] (4) The autonomous switching output method of orbit determination data of the navigation and positioning system proposed in the present invention can be effectively applied to universal design and is suitable for various types of high-orbit / low-orbit remote sensing satellites with orbit change requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0022] Figure 1 is a flow chart of a method for autonomously switching and outputting orbit determination data of a navigation and positioning system provided by an embodiment of the present invention;

[0023] Figure 2 It is the internal functional principle and information flow diagram of the remote sensing satellite navigation system provided by the embodiment of the present invention. DETAILED DESCRIPTION

[0024] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present disclosure and to be able to fully convey the scope of the present disclosure to those skilled in the art. It should be noted that, in the absence of conflict, the embodiments of the present invention and the features described in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0025] Figure 1 The present invention provides a flowchart of a method for autonomously switching and outputting orbit determination data of a navigation and positioning system according to an embodiment of the present invention. Figure 2 This is the internal functional principle and information flow diagram of the remote sensing satellite navigation system provided by the embodiment of the present invention. Figure 1 and Figure 2 As shown, the autonomous switching output method of the orbit determination data of the navigation and positioning system includes:

[0026] Step S1: the interactive interface unit of the GNSS receiver receives the satellite positioning and orbit determination data packet transmitted by the entire satellite, and monitors the satellite orbit state telemetry mode word in the satellite positioning and orbit determination data packet;

[0027] Step S2: If the satellite orbit status telemetry mode word is continuously judged as "changing orbit" for more than a preset time, then go to step S3, otherwise return to step S1;

[0028] Step S3: the interactive interface unit of the GNSS receiver monitors whether the navigation information processing unit of the GNSS receiver is in a "positioning valid" state. If it is in the "positioning valid" state, the navigation information processing unit of the GNSS receiver outputs the single-point positioning PVT data and the original observation information to the orbit determination calculation unit of the GNSS receiver, and enters step S4, otherwise it returns to step S1;

[0029] Step S4: the interactive interface unit autonomously sends an "orbit determination data output prohibition" instruction to the orbit determination calculation unit; after receiving the "orbit determination data output prohibition" instruction, the orbit determination calculation unit turns off the orbit determination function;

[0030] Step S5: the interactive interface unit autonomously sends a "positioning data conversion output" instruction to the orbit determination calculation unit. After receiving the "positioning data conversion output" instruction, the orbit determination calculation unit performs coordinate conversion on the single-point positioning PVT data to obtain positioning and orbit determination data. The orbit determination calculation unit sends the positioning and orbit determination data and the original observation information to the interactive interface unit of the GNSS receiver.

[0031] Step S6: the interactive interface unit uses the satellite orbit state telemetry mode word "orbit change" as the navigation system working mode telemetry value "orbit change mode", uses the positioning orbit determination data and the original observation information as the orbit determination data output strategy telemetry value, and reports the navigation system working mode telemetry value and the orbit determination data output strategy telemetry value to the entire satellite;

[0032] Step S7: the interactive interface unit receives the second satellite positioning and orbit determination data packet transmitted by the entire satellite, and monitors the second satellite orbit state telemetry mode word in the second satellite positioning and orbit determination data packet;

[0033] Step S8: If the satellite orbit status telemetry mode word is continuously judged as "normal" for more than a preset time, then go to step S9, otherwise return to step S7;

[0034] Step S9: the interactive interface unit of the GNSS receiver autonomously sends a "filter initialization" instruction to the orbit determination calculation unit. After receiving the "filter initialization" instruction, the orbit determination calculation unit processes the single-point positioning PVT data to obtain positioning and orbit determination data corrected by the extended Kalman filter function.

[0035] Step S10: the interactive interface unit monitors whether the orbit determination calculation unit is in the "orbit determination effective real-time filtering" state. If it is in the "orbit determination effective real-time filtering" state, the process goes to step S11;

[0036] Step S11: the interactive interface unit autonomously sends an "orbit determination data output permission" instruction to the orbit determination calculation unit. After the orbit determination calculation unit receives the "orbit determination data output permission" instruction, the orbit determination calculation unit outputs the positioning and orbit determination data corrected by the extended Kalman filter function and the original observation information to the interactive interface unit;

[0037] Step S12: The interactive interface unit uses the satellite orbit status telemetry mode word "normal" as the navigation system working mode telemetry value "normal mode", uses the positioning orbit determination data and the original observation information corrected by the extended Kalman filter function as the orbit determination data output strategy telemetry value, and reports the navigation system working mode telemetry value and the orbit determination data output strategy telemetry value to the entire satellite.

[0038] The autonomous switching output strategy of the orbit determination data of the navigation and positioning system during the orbit change of the remote sensing satellite has hierarchical autonomous monitoring function, autonomous execution function, and autonomous reporting function. The first-level autonomous monitoring function, autonomous execution function, and autonomous reporting function successively complete the identification and monitoring of the orbit change status of the remote sensing satellite, the switching of positioning and orbit determination data output, and the telemetry reporting of the status representing the current orbit determination data output strategy to the entire satellite; then enter the second-level autonomous monitoring function, autonomous execution function, and autonomous reporting function, and successively complete the identification and monitoring of the end of the remote sensing satellite orbit change, filter initialization and positioning, the switching of orbit determination data output, and the telemetry reporting of the status of the orbit determination output strategy of the entire satellite.

[0039] The autonomous switching output function of the orbit determination data can be set to "enable" or "disable" through instructions.

[0040] If the interactive interface unit of the GNSS receiver in the satellite navigation system receives the "orbit change output autonomous switching strategy enable" command from the onboard computer, it will enter the "enable" state of the orbit determination data output autonomous switching function, and then the navigation system will autonomously execute the following steps without relying on the entire satellite:

[0041] ① The navigation system enters the first level of autonomous monitoring function;

[0042] (a) The interactive interface unit of the GNSS receiver receives the "satellite positioning and orbit determination data packet" through the bus communication interface with the entire satellite, and in particular continuously monitors and analyzes the telemetry mode word representing the satellite orbit status;

[0043] (b) the interactive interface unit software of the GNSS receiver monitors the satellite orbit status telemetry mode word. If the mode word is continuously judged as "changing orbit" for more than a certain time threshold, the process proceeds to step (c). Otherwise, the interactive interface unit of the GNSS receiver continues to monitor the satellite orbit status telemetry mode word.

[0044] (c) The interactive interface unit of the GNSS receiver monitors whether the navigation information processing unit of the GNSS receiver is in the "positioning valid" state. If it is already in the "positioning valid" state, the navigation information processing unit can output single-point positioning PVT data and raw observation information to the orbit determination calculation unit of the GNSS receiver every second. At this time, the navigation system enters the first level of autonomous execution function. Otherwise, the "positioning valid" state of the navigation information processing unit continues to be monitored;

[0045] ② The navigation system enters the first level of autonomous execution function;

[0046] (a) The interactive interface unit of the GNSS receiver autonomously sends an "orbit determination data output prohibition" command to the orbit determination calculation unit.

[0047] (b) After receiving the "orbit determination data output prohibited" command, the orbit determination calculation unit will shut down its internal orbit determination function, no longer maintain and correct the orbit based on the orbit dynamics model and GNSS raw observations, and no longer output the filtered orbit determination data to the interactive interface unit;

[0048] (c) The interactive interface unit of the GNSS receiver autonomously sends a "positioning data conversion output" instruction to the orbit determination calculation unit.

[0049] After receiving the "positioning data conversion output" instruction, the orbit determination calculation unit will directly output the positioning orbit determination data obtained by coordinate conversion of the single-point positioning result received from the navigation information processing unit. Specifically, the single-point positioning PVT data will be converted into the target coordinate system, and the positioning PVT data at that moment will be converted into six instantaneous orbit numbers, and sent to the interactive interface unit of the GNSS receiver together with the original observation values.

[0050] ③The navigation system enters the first level of autonomous reporting function;

[0051] (a) The interactive interface unit of the GNSS receiver fills the telemetry mode word "orbit change" that triggers the autonomous execution function to characterize the satellite orbit state as the navigation system working mode telemetry value "orbit change mode" and the orbit determination data output strategy telemetry value "single point positioning" currently used by the navigation system into the fast transmission telemetry frame, and autonomously reports it to the whole satellite through the interactive interface with the whole satellite. The fast transmission telemetry frame can be transmitted to the ground through satellite telemetry, so that technicians can understand the satellite status and make further judgments and disposal.

[0052] ④ The navigation system enters the second level of autonomous monitoring function;

[0053] (a) The interactive interface unit of the GNSS receiver continues to receive the "satellite positioning and orbit determination data packet" through the bus communication interface with the entire satellite, and in particular, continuously monitors and analyzes the telemetry mode word representing the satellite orbit status;

[0054] (b) The interactive interface unit software of the GNSS receiver monitors the satellite orbit status telemetry mode word. If the mode word is continuously judged as "normal" for more than a certain time threshold, the navigation system enters the second level of autonomous execution function. Otherwise, the interactive interface unit of the GNSS receiver continues to monitor the satellite orbit status telemetry mode word.

[0055] ⑤ The navigation system enters the second level of autonomous execution function;

[0056] (a) The interactive interface unit of the GNSS receiver autonomously sends a “filter initialization” command to the orbit determination calculation unit.

[0057] After receiving the instruction, the orbit determination calculation unit will start its internal extended Kalman filter function, the filter parameters will be initialized, and the single-point positioning PVT data transmitted by the navigation information unit will be recursively and corrected based on the orbit dynamics model and the original observations, but the data state output to the interactive interface unit will still be maintained, that is, the positioning data and orbit six-element data directly converted from the single-point positioning result received from the navigation information processing unit;

[0058] (b) The interactive interface unit of the GNSS receiver monitors whether the orbit determination calculation unit of the GNSS receiver is in the "orbit determination effective real-time filtering" state. If it is in the "orbit determination effective real-time filtering" state, it enters the functional step (c) of this level; otherwise, it continues to monitor the "orbit determination effective real-time filtering" state of the orbit determination calculation unit;

[0059] (c) The interactive interface unit of the GNSS receiver autonomously sends an "orbit determination data output permission" instruction to the orbit determination calculation unit.

[0060] After receiving the "orbit determination data output permission" command, the orbit determination calculation unit will re-output the positioning data and orbit six-element data corrected by the extended Kalman filter function, as well as the original observation data, to the interactive interface unit of the GNSS receiver;

[0061] ⑥The navigation system enters the second level of autonomous reporting function;

[0062] (a) The interactive interface unit of the GNSS receiver fills the telemetry mode word "normal" of the satellite orbit state that triggers the autonomous execution function as the telemetry value "normal mode" of the navigation system working mode, and the telemetry value "real-time filtering" of the orbit determination data output strategy currently used by the navigation system into the fast transmission telemetry frame, and reports it to the whole satellite autonomously through the interactive interface with the whole satellite. The fast transmission telemetry frame can be transmitted to the ground through satellite telemetry, so that technicians can understand the satellite status and make further judgments and disposal.

[0063] With the continuous development of remote sensing technology, remote sensing satellites are often equipped with navigation and positioning systems to provide high-precision position and velocity information, orbit information, time information, etc. for satellite platforms and remote sensing payloads to assist satellite payloads in performing tasks. In addition to single-point positioning results, the high-precision orbit information output by the navigation and positioning system also introduces a simplified orbital dynamics model for orbital integration, and corrects the orbit with GNSS measurement data to obtain stable and reliable orbit determination data. This process may include: ① Using the time, position, velocity, and orbit information obtained by solution and conversion as the state quantity of the filter, ② Establishing an orbital dynamics model including the earth's gravitational field, atmospheric drag, light pressure and other perturbations and updating the state quantity in time, ③ Using the pseudorange and pseudorange change rate observed by the GNSS receiver as observation quantities, establishing a filter observation model to measure and update the observation quantities. ④ Output the six orbital numbers and satellite position, velocity, and time information to the outside.

[0064] During the remote sensing satellite mission, in order to reach or maintain the target orbit, it is necessary to rely on the thrust system to perform multiple orbit adjustments. Considering the design cost of the navigation and positioning system and the low frequency of in-orbit orbit adjustments, the orbital dynamics model used by the navigation and positioning system usually does not introduce thrust information. During the orbit adjustment process, the orbit data output by the navigation and positioning system may have large deviations, and even filter divergence and invalid orbit determination may occur, resulting in interruption of orbit data, which cannot meet the use requirements of the entire satellite and payload, and even affect the execution effect of the entire satellite mission.

[0065] Without considering the introduction of thrust information conditions, the prior art has not specifically formulated an effective and automatic method to avoid the above-mentioned shortcomings in the remote sensing satellite orbit adjustment process. Usually, the orbit determination filter is restarted by a single reliability strategy such as filter divergence judgment set by the internal software of the navigation and positioning system. In order to ensure the stability of the system, the orbit determination filter restart threshold is often designed for fault tolerance, resulting in problems such as untimely orbit determination filter restart operation and difficulty in quantifying the impact duration, which affects the stability and accuracy of the entire satellite mission; the navigation system orbit determination module is restarted by analyzing and interpreting the telemetry of the entire satellite through the ground measurement and control arc, and uplinking remote control commands. The orbit determination module uses the orbit maintenance task injected from the ground before the orbit determination module is established, which does not have autonomy and occupies the precious measurement and control arc time during the satellite orbit change, and does not meet the design principles of "good usability" and "ease of use" of remote sensing satellites. The present invention provides an autonomous switching output strategy for orbit determination data during the orbit change process of a remote sensing satellite. Through hierarchical autonomous monitoring function, autonomous execution function, and autonomous reporting function, the identification and monitoring of the start of orbit change of the remote sensing satellite, the switching of orbit determination data output between the orbit calculation module and the navigation information module, and the telemetry reporting of the current orbit determination strategy to the entire satellite are completed in sequence. Then, the second-level autonomous monitoring function, autonomous execution function, and autonomous reporting function are entered to sequentially complete the identification and monitoring of the end of the orbit change of the remote sensing satellite, filter initialization, and the switching of orbit determination data output between the orbit calculation module and the navigation information module, as well as the reporting of the orbit determination output strategy for the entire satellite. The autonomous switching function of the orbit determination data output can be set to "enable" or "disable" through instructions. The method is specifically as follows:

[0066] Figure 2 The internal functional principle and information flow of the navigation system are given. The front end of the navigation system is the GNSS receiving antenna and the filter and low noise amplifier, followed by the GNSS receiver, the main part of the navigation system function, which is generally composed of a navigation information processing unit, an orbit determination calculation unit, and an interactive interface unit. Different integration and separation forms of the above units can produce a variety of GNSS receiver design schemes, but the scheme described in this paragraph is still universal.

[0067] Typically, the navigation satellite signal enters the filter and low-noise amplifier through the GNSS receiving antenna, and then enters the navigation information processing unit of the GNSS receiver to capture, track, despread and demodulate the signal, and based on this, completes the extraction of measurement data such as original observations, as well as single-point positioning PVT data in the WGS84 coordinate system. The orbit determination unit receives the single point positioning PVT data sent by the navigation information processing unit. The original observation data and other data are used to complete the positioning data in the J2000 coordinate system using the Kalman filter algorithm based on the orbital dynamics model. Six-digit orbit determination data The interactive interface unit packages the received data according to the communication protocol specified by the whole satellite, outputs it through the interactive interface with the whole satellite, and receives data input from the whole satellite.

[0068] In this embodiment, the autonomous switching output of orbit determination data during the orbit change of the remote sensing satellite is set by instructions. If the interactive interface unit of the GNSS receiver in the satellite navigation system receives the "orbit change output autonomous switching strategy enable" instruction sent by the onboard computer, the orbit determination data output autonomous switching function enters the "enable" state, and then the navigation system will autonomously execute the following steps without relying on the entire satellite:

[0069] ① The navigation system enters the first level of autonomous monitoring function;

[0070] (a) The interactive interface unit of the GNSS receiver receives the "satellite positioning and orbit determination data packet" through the bus communication interface with the entire satellite, and in particular continuously monitors and analyzes the telemetry mode word representing the satellite orbit status;

[0071] (b) the interactive interface unit software of the GNSS receiver monitors the satellite orbit status telemetry mode word. If the mode word is continuously judged as "orbit changing" for more than 10 seconds, the process proceeds to step (c). Otherwise, the interactive interface unit of the GNSS receiver continues to monitor the satellite orbit status telemetry mode word.

[0072] (c) The interactive interface unit of the GNSS receiver monitors whether the navigation information processing unit of the GNSS receiver is in the "positioning valid" state. If it is already in the "positioning valid" state, the navigation information processing unit can output single-point positioning PVT data in the WGS84 coordinate system every second. The original observation information is sent to the orbit determination calculation unit of the GNSS receiver. At this time, the navigation system enters the first level of autonomous execution function, otherwise it continues to monitor the "positioning valid" status of the navigation information processing unit;

[0073] ② The navigation system enters the first level of autonomous execution function;

[0074] (a) The interactive interface unit of the GNSS receiver autonomously sends an "orbit determination data output prohibition" command to the orbit determination calculation unit.

[0075] (b) After receiving the "orbit determination data output prohibited" command, the orbit determination calculation unit will shut down its internal extended Kalman filter function and no longer use the orbit dynamics model and the original observations to calculate the single-point positioning PVT data transmitted by the navigation information unit. Perform recursion and correction, and no longer output the above-mentioned extended Kalman filtered positioning data to the interactive interface unit And orbit six element data

[0076] (c) The interactive interface unit of the GNSS receiver autonomously sends a "positioning data conversion output" instruction to the orbit determination calculation unit.

[0077] After receiving the "positioning data conversion output" command, the orbit determination calculation unit will directly output the positioning orbit determination data converted from the single point positioning result received from the navigation information processing unit, specifically converting the single point positioning PVT data in the WGS84 coordinate system Positioning data converted to the J2000 coordinate system At the same time, the positioning data in the J2000 coordinate system at that moment is converted into the six instantaneous orbital data in the J2000 coordinate system. And it is sent to the interactive interface unit of the GNSS receiver together with the original observations.

[0078] ③The navigation system enters the first level of autonomous reporting function;

[0079] (a) The interactive interface unit of the GNSS receiver fills the telemetry mode word "orbit change" that triggers the autonomous execution function to characterize the satellite orbit state as the navigation system working mode telemetry value "orbit change mode" and the orbit determination data output strategy telemetry value "single point positioning" currently used by the navigation system into the fast transmission telemetry frame, and autonomously reports it to the whole satellite through the interactive interface with the whole satellite. The fast transmission telemetry frame can be transmitted to the ground through satellite telemetry, so that technicians can understand the satellite status and make further judgments and disposal.

[0080] ④ The navigation system enters the second level of autonomous monitoring function;

[0081] (a) The interactive interface unit of the GNSS receiver continues to receive the "satellite positioning and orbit determination data packet" through the bus communication interface with the entire satellite, and in particular, continuously monitors and analyzes the telemetry mode word representing the satellite orbit status;

[0082] (b) The interactive interface unit software of the GNSS receiver monitors the satellite orbit status telemetry mode word. If the mode word is continuously judged as “normal” for more than 10 seconds, the navigation system enters the second level of autonomous execution function. Otherwise, the interactive interface unit of the GNSS receiver continues to monitor the satellite orbit status telemetry mode word.

[0083] ⑤ The navigation system enters the second level of autonomous execution function;

[0084] (a) The interactive interface unit of the GNSS receiver autonomously sends a “filter initialization” command to the orbit determination calculation unit.

[0085] After receiving the instruction, the orbit determination calculation unit will start its internal extended Kalman filter function, the filter parameters will be initialized, and the single-point positioning PVT data transmitted by the navigation information unit will be recursively and corrected based on the orbit dynamics model and the original observations, but the data state output to the interactive interface unit will still be maintained, that is, the positioning data directly converted from the single-point positioning result received from the navigation information processing unit And orbit six element data [α,i,Ω,ξ,η,λ] J2000 ;

[0086] (b) The interactive interface unit of the GNSS receiver monitors whether the orbit determination calculation unit of the GNSS receiver is in the "orbit determination effective real-time filtering" state. If it is in the "orbit determination effective real-time filtering" state, it enters the functional step (c) of this level; otherwise, it continues to monitor the "orbit determination effective real-time filtering" state of the orbit determination calculation unit;

[0087] (c) The interactive interface unit of the GNSS receiver autonomously sends an "orbit determination data output permission" instruction to the orbit determination calculation unit.

[0088] After receiving the "orbit determination data output allowed" command, the orbit determination calculation unit will re-output the positioning data in the J2000 coordinate system after being corrected by the extended Kalman filter function. And orbital six element data And the interactive interface unit from raw observations to GNSS receivers.

[0089] ⑥The navigation system enters the second level of autonomous reporting function;

[0090] (a) The interactive interface unit of the GNSS receiver fills the telemetry mode word "normal" of the satellite orbit state that triggers the autonomous execution function as the telemetry value "normal mode" of the navigation system working mode, and the telemetry value "real-time filtering" of the orbit determination data output strategy currently used by the navigation system into the fast transmission telemetry frame, and reports it to the whole satellite autonomously through the interactive interface with the whole satellite. The fast transmission telemetry frame can be transmitted to the ground through satellite telemetry, so that technicians can understand the satellite status and make further judgments and disposal.

[0091] The above-mentioned orbit determination data output autonomous switching function navigation system is in the "enabled" state by default when it is powered on, and the orbit determination software can maintain the state before reset after reset.

[0092] This embodiment also provides an electronic device, including: a memory: used to store computer-readable instructions; and a processor: used to run the computer-readable instructions to execute the autonomous switching output method of orbit determination data of a navigation and positioning system.

[0093] Compared with not switching the orbit determination data output or relying on the single filter restart of the internal software reliability strategy of the navigation system, the orbit determination data output strategy of the present invention can not only ensure the accuracy of the output position velocity data and orbit data, but also ensure the uninterrupted position velocity data and orbit data, so that the continuity of the satellite mission is guaranteed; the orbit determination data autonomous switching output method of the navigation and positioning system proposed in the present invention includes autonomous detection, autonomous execution, and autonomous reporting functions, which can be completely realized autonomously on the satellite, without relying on the uplink remote control instructions of the ground measurement and control arc segment for operation, and without relying on the downlink telemetry of the ground measurement and control arc segment for interpretation and analysis; the orbit determination data autonomous switching output function of the navigation and positioning system during the remote sensing satellite orbit change proposed in the present invention can be set in an "enable" or "disable" state through instructions, so that the method is flexible and controllable in the whole satellite mission; the orbit determination data autonomous switching output method of the navigation and positioning system proposed in the present invention can be effectively applied to universal design, and is suitable for various high-orbit / low-orbit remote sensing satellites with orbit change requirements.

[0094] Although the present invention has been disclosed as above in the form of a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art may make possible changes and modifications to the technical solution of the present invention by using the methods and technical contents disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention shall fall within the protection scope of the technical solution of the present invention.

Claims

1. A method for autonomously switching and outputting orbit determination data of a navigation and positioning system, characterized in that include: Step S1: the interactive interface unit of the GNSS receiver receives the satellite positioning and orbit determination data packet transmitted by the entire satellite, and monitors the satellite orbit state telemetry mode word in the satellite positioning and orbit determination data packet; Step S2: If the satellite orbit status telemetry mode word is continuously judged as "in orbit change" for more than a preset time, then go to step S3, otherwise return to step S1; Step S3: the interactive interface unit of the GNSS receiver monitors whether the navigation information processing unit of the GNSS receiver is in the "positioning valid" state. If it is in the "positioning valid" state, the navigation information processing unit of the GNSS receiver outputs the single point positioning PVT data and the original observation information to the orbit determination calculation unit of the GNSS receiver and enters step S4, otherwise it returns to step S1; Step S4: the interactive interface unit autonomously sends an "orbit determination data output prohibition" instruction to the orbit determination calculation unit; after receiving the "orbit determination data output prohibition" instruction, the orbit determination calculation unit turns off the orbit determination function; Step S5: the interactive interface unit autonomously sends a "positioning data conversion output" instruction to the orbit determination calculation unit. After receiving the "positioning data conversion output" instruction, the orbit determination calculation unit performs coordinate conversion on the single-point positioning PVT data to obtain positioning and orbit determination data. The orbit determination calculation unit sends the positioning and orbit determination data and the original observation information to the interactive interface unit of the GNSS receiver. Step S6: The interactive interface unit reports the current navigation system working mode telemetry value and the current orbit determination data output strategy telemetry value to the entire satellite; Step S7: the interactive interface unit receives the second satellite positioning and orbit determination data packet transmitted by the entire satellite, and monitors the second satellite orbit state telemetry mode word in the second satellite positioning and orbit determination data packet; Step S8: If the satellite orbit status telemetry mode word is continuously judged as "normal" for more than a preset time, then proceed to step S9, otherwise return to step S7; Step S9: the interactive interface unit of the GNSS receiver autonomously sends a "filter initialization" instruction to the orbit determination calculation unit. After receiving the "filter initialization" instruction, the orbit determination calculation unit processes the single-point positioning PVT data to obtain positioning and orbit determination data corrected by the extended Kalman filter function. Step S10: the interactive interface unit monitors whether the orbit determination calculation unit is in the "orbit determination effective real-time filtering" state. If it is in the "orbit determination effective real-time filtering" state, the process proceeds to step S11; Step S11: the interactive interface unit autonomously sends an "orbit determination data output permission" instruction to the orbit determination calculation unit. After receiving the "orbit determination data output permission" instruction, the orbit determination calculation unit outputs the positioning and orbit determination data corrected by the extended Kalman filter function and the original observation information to the interactive interface unit; Step S12: The interactive interface unit reports the telemetry value of the current navigation system working mode and the telemetry value of the current orbit determination data output strategy to the entire satellite.

2. The method for autonomously switching and outputting orbit determination data of a navigation and positioning system according to claim 1, characterized in that: The satellite orbit status telemetry mode word is continuously judged as "changing orbit" for more than 10 seconds.

3. The method for autonomously switching and outputting orbit determination data of a navigation and positioning system according to claim 1, characterized in that: The orbit determination calculation unit converts the single-point positioning PVT data into coordinates to obtain positioning and orbit determination data including: The single-point positioning PVT data is converted from the WGS84 coordinate system to the J2000 coordinate system to obtain the positioning data in the J2000 coordinate system; The positioning data in the 2000 coordinate system is converted into the six instantaneous orbit numbers in the J2000 coordinate system.

4. The method for autonomously switching and outputting orbit determination data of a navigation and positioning system according to claim 1, characterized in that: In step S6, the interactive interface unit uses the satellite orbit status telemetry mode word "orbit change" as the navigation system working mode telemetry value "orbit change mode", uses the positioning orbit determination data and the original observation information as the orbit determination data output strategy telemetry value, and reports the navigation system working mode telemetry value and the orbit determination data output strategy telemetry value to the entire satellite.

5. The method for autonomously switching and outputting orbit determination data of a navigation and positioning system according to claim 1 or 4, characterized in that: The interactive interface unit fills the telemetry value of the current navigation system working mode and the telemetry value of the current orbit determination data output strategy into the fast transmission telemetry frame and reports it to the entire satellite.

6. The method for autonomously switching and outputting orbit determination data of a navigation and positioning system according to claim 1, characterized in that: The satellite orbit status telemetry mode word is continuously judged as "normal" for more than 10 seconds.

7. The method for autonomously switching and outputting orbit determination data of a navigation and positioning system according to claim 1, characterized in that: The positioning and orbit determination data corrected by the extended Kalman filter function include the positioning data corrected by the extended Kalman filter function and six instantaneous orbit numbers.

8. The method for autonomously switching and outputting orbit determination data of a navigation and positioning system according to claim 1, characterized in that: In step S12, the interactive interface unit uses the satellite orbit status telemetry mode word "normal" as the navigation system working mode telemetry value "normal mode", uses the positioning orbit determination data and the original observation information corrected by the extended Kalman filter function as the orbit determination data output strategy telemetry value, and reports the navigation system working mode telemetry value and the orbit determination data output strategy telemetry value to the entire satellite.

9. The method for autonomously switching and outputting orbit determination data of a navigation and positioning system according to claim 1 or 8, characterized in that: The interactive interface unit fills the telemetry value of the current navigation system working mode and the telemetry value of the current orbit determination data output strategy into the fast transmission telemetry frame and reports it to the entire satellite.

10. An electronic device, characterized in that: include: Memory: used to store computer-readable instructions; and Processor: used to run the computer-readable instructions to perform the method according to any one of claims 1 to 9.

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