A method for autonomous switching of orbit data output of a navigation positioning system

Abstract

The application discloses a kind of navigation positioning system's orbit determination data autonomous switching output method, with hierarchical autonomous monitoring function, autonomous execution function, autonomous reporting function.First level autonomous monitoring function, autonomous execution function, autonomous reporting function are sequentially completed to the identification and monitoring of remote sensing satellite orbit change state, the switching of positioning, orbit determination data output, and the state telemetry of the current orbit determination data output strategy is reported to whole satellite;After entering second level autonomous monitoring function, autonomous execution function, autonomous reporting function, sequentially complete the identification and monitoring of remote sensing satellite orbit change end, filter initialization and the switching of positioning, orbit determination data output, and the state telemetry of the orbit determination output strategy of whole satellite is reported.The application can not only guarantee the precision of output position speed data, orbit data, but also guarantee the uninterrupted position speed data, orbit data, so that the continuity of satellite task is guaranteed.

Description

Technical Field

[0001] This invention belongs to the technical field of spaceborne navigation and positioning systems, and particularly relates to a method for autonomous switching and output of orbit determination data in a navigation and positioning system. Background Technology

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

[0003] During remote sensing satellite missions, multiple orbit adjustments are required using the thrust system to achieve or maintain the target orbit. Considering the design cost of navigation and positioning systems and the low frequency of on-orbit adjustments, the orbital dynamics models used by navigation and positioning systems typically do not incorporate thrust information. During orbit adjustments, the orbital data output by the navigation and positioning system may exhibit significant deviations, or even filter divergence and orbit determination failure, leading to data interruptions. This can fail to meet the operational requirements of the entire satellite and its payloads, and even affect the overall mission performance.

[0004] Without considering the introduction of thrust information, existing technologies lack effective and automatic methods to circumvent the aforementioned shortcomings in the remote sensing satellite orbit adjustment process. Typically, they rely on simple reliability strategies, such as filter divergence judgment set within the navigation and positioning system's internal software, to restart the orbit determination filter. To ensure system stability, the orbit determination filter restart threshold is often designed with fault tolerance, leading to problems such as untimely restart operations and difficulty in quantifying the impact duration, thus affecting the stability and accuracy of the entire satellite mission. Furthermore, restarting the navigation system's orbit determination module via ground-based telemetry and control analysis and uplink remote control commands, without establishing a stable orbit before the module is operational, relies on ground-injected orbit maintenance tasks. This lacks autonomy, consumes valuable telemetry and control time during satellite orbit changes, and contradicts the design principles of "usability" and "ease of use" for remote sensing satellites. Summary of the Invention

[0005] The technical problem solved by this invention is to overcome the shortcomings of the prior art and provide a method for autonomous switching output of orbit determination data in a navigation and positioning system. This method can not only ensure the accuracy of the output position and velocity data and orbit data, but also ensure that the position and velocity data and orbit data are uninterrupted, thus ensuring the continuity of satellite missions.

[0006] The objective of this invention is achieved through the following technical solution: a method for autonomous switching output of orbit determination data in a navigation and positioning system, comprising: 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 status telemetry mode word in the satellite positioning and orbit determination data packet; Step S2: If the satellite orbit status telemetry mode word is continuously determined to be "changing orbit" for more than a preset time, then proceed 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 a "positioning valid" state. If it is in a "positioning valid" state, the navigation information processing unit of the GNSS receiver outputs... The single-point positioning PVT data and raw observation information are sent to the orbit determination calculation unit of the GNSS receiver, and the process proceeds to step S4; otherwise, it returns to step S1. Step S4: The interactive interface unit autonomously sends a "Lorbit Determination Data Output Prohibition" command to the orbit determination calculation unit. Upon receiving the "Lorbit Determination Data Output Prohibition" command, the orbit determination calculation unit disables the orbit determination function. Step S5: The interactive interface unit autonomously sends a "Positioning Data Conversion Output" command to the orbit determination calculation unit. Upon receiving the "Positioning Data Conversion Output" command, the orbit determination calculation unit performs coordinate transformation on the single-point positioning PVT data to obtain positioning and orbit determination data. The orbit determination calculation unit then sends the positioning and orbit determination data and raw observation information to the interactive interface of the GNSS receiver. Unit; Step S6: The interactive interface unit reports the current navigation system operating 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 status 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, proceed to step S9; otherwise, return to step S7; Step S9: The interactive interface unit of the GNSS receiver autonomously sends a "filter initialization" command to the orbit determination calculation unit. After receiving the "filter initialization" command, the orbit determination calculation unit processes the single-point positioning PVT data. The system processes the data to obtain positioning and orbit determination data corrected by extended Kalman filtering. Step S10: The interactive interface unit monitors whether the orbit determination calculation unit is in the "effective real-time filtering for orbit determination" state. If it is in the "effective real-time filtering for orbit determination" state, the system proceeds to step S11. Step S11: The interactive interface unit autonomously sends an "orbit determination data output permission" command to the orbit determination calculation unit. After receiving the "orbit determination data output permission" command, the orbit determination calculation unit outputs the positioning and orbit determination data corrected by extended Kalman filtering and the original observation information to the interactive interface unit. Step S12: The interactive interface unit reports the telemetry values ​​of the current navigation system operating mode and the current orbit determination data output strategy to the entire satellite.

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

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

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

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

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

[0012] In the above-mentioned autonomous switching output method for orbit determination data of the navigation and positioning system, the positioning and orbit determination data after correction by the extended Kalman filter function includes the positioning data after correction by the extended Kalman filter function and the instantaneous six orbital data.

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

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

[0015] An electronic device includes: a memory for storing computer-readable instructions; and a processor for executing the computer-readable instructions to perform 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 advantages:

[0017] (1) The orbit determination data output strategy of the navigation and positioning system proposed in this invention during the orbit change process of remote sensing satellites is different from not switching the orbit determination data output or relying on the single reliability strategy of the internal software of the navigation system to restart the filter. This invention can not only ensure the accuracy of the output position and velocity data and orbit data, but also ensure that the position and velocity data and orbit data are uninterrupted, so as to ensure the continuity of the satellite mission.

[0018] (2) The autonomous switching output method of orbit determination data of the navigation and positioning system proposed in this invention includes autonomous detection, autonomous execution and autonomous reporting functions, which can be fully realized autonomously on the satellite. It does not need to rely on the uplink remote control command of the ground telemetry and control arc to operate, nor does it need to rely on the downlink telemetry of the ground telemetry and control arc for interpretation and analysis.

[0019] (3) The autonomous switching output function of the navigation and positioning system during the remote sensing satellite orbit change process proposed in this invention can be set to "enable" or "disable" state by command, making the method flexible and controllable in the whole satellite mission;

[0020] (4) The autonomous switching output method of orbit determination data of the navigation and positioning system proposed in this invention can be effectively applied to general design and is applicable to various high-orbit / low-orbit remote sensing satellites with orbit change requirements. Attached Figure Description

[0021] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0022] Figure 1 This is a flowchart of the autonomous switching output method for orbit determination data of the navigation and positioning system provided in the embodiments of the present invention;

[0023] Figure 2 This is a diagram illustrating the internal functional principles and information flow of a remote sensing satellite navigation system provided in this embodiment of the invention. Detailed Implementation

[0024] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the disclosure to those skilled in the art. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0025] Figure 1 This is a flowchart of the autonomous switching output method for orbit determination data of the navigation and positioning system provided in the embodiments of the present invention. Figure 2 This is a diagram illustrating the internal functional principles and information flow of a remote sensing satellite navigation system provided in an embodiment of the present invention. For example... Figure 1 and Figure 2 As shown, the autonomous switching output method for orbit determination data of this 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 status 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 determined to be "changing orbit" for more than a preset time, proceed 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 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 proceeds to step S4; otherwise, it returns to step S1.

[0029] Step S4: The interactive interface unit autonomously sends a "track determination data output prohibition" command to the track determination calculation unit; upon receiving the "track determination data output prohibition" command, the track determination calculation unit disables the track determination function;

[0030] Step S5: The interactive interface unit autonomously sends a "positioning data conversion output" command to the orbit determination calculation unit. After receiving the "positioning data conversion output" command, the orbit determination calculation unit performs coordinate transformation on the single-point positioning PVT data to obtain positioning and orbit determination data. The orbit determination calculation unit then 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 status telemetry mode word "Changing orbit" as the navigation system working mode telemetry value "Changing orbit mode", uses the positioning and 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 whole satellite.

[0032] Step S7: The interactive interface unit receives the second satellite positioning and orbit determination data packet transmitted by the whole satellite, and monitors the second satellite orbit status 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, proceed to step S9; otherwise, return to step S7.

[0034] Step S9: The interactive interface unit of the GNSS receiver autonomously sends a "filter initialization" command to the orbit determination calculation unit. After receiving the "filter initialization" command, the orbit determination calculation unit processes the single-point positioning PVT data to obtain the 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 "effective real-time filtering for orbit determination" state. If it is in the "effective real-time filtering for orbit determination" state, proceed to step S11.

[0036] Step S11: The interactive interface unit autonomously sends a "track determination data output permission" command to the track determination calculation unit. After receiving the "track determination data output permission" command, the track determination calculation unit outputs the positioning and track 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 and orbit determination data corrected by the extended Kalman filter function 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 whole satellite.

[0038] During the orbit change process of a remote sensing satellite, the navigation and positioning system employs an autonomous switching output strategy for orbit determination data, possessing hierarchical autonomous monitoring, autonomous execution, and autonomous reporting functions. The first-level autonomous monitoring, execution, and reporting functions sequentially identify and monitor the remote sensing satellite's orbit change status, switch positioning and orbit determination data outputs, and report the status telemetry representing the current orbit determination data output strategy to the entire satellite. Subsequently, the second-level autonomous monitoring, execution, and reporting functions sequentially identify and monitor the completion of the remote sensing satellite's orbit change, initialize filters and switch positioning and orbit determination data outputs, and report the status telemetry of the entire satellite's orbit determination output strategy.

[0039] The autonomous switching output function for orbit determination data can be enabled or disabled via command.

[0040] If the interactive interface unit of the GNSS receiver in the satellite navigation system receives the "Autonomous Switching Strategy for Orbit Change Output Enable" command from the onboard computer, it will enter the "Enabled" state of the autonomous switching function for orbit determination data output. After that, 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 "satellite positioning and orbit determination data packets" through the bus communication interface with the whole satellite, and in particular, continuously monitors and parses the telemetry mode words that characterize the satellite orbit status.

[0043] (b) The GNSS receiver's interactive interface unit software monitors the satellite orbit status telemetry mode word. If the mode word is continuously determined to be "changing orbit" for a certain time threshold, then proceed to step (c). Otherwise, the GNSS receiver's interactive interface unit 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 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, it continues to monitor the "positioning valid" state of the navigation information processing unit.

[0045] ②The 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) Upon receiving the “track determination data output prohibition” instruction, the orbit determination calculation unit will shut down its internal orbit determination function and will no longer perform track maintenance and correction based on the track dynamics model and GNSS raw observations, and will no longer output 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" command to the orbit determination calculation unit.

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

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

[0051] (a) The GNSS receiver's interactive interface unit takes the telemetry mode word "Changing Orbit" (representing the satellite's orbital state) as the navigation system's operating mode telemetry value "Changing Orbit Mode," and the telemetry value "Single Point Positioning" (representing the orbit determination data output strategy currently used by the navigation system), as described above, and fills it into a fast transmission telemetry frame. This frame is then autonomously reported to the entire satellite via the interface with the satellite. This fast transmission telemetry frame can be transmitted to the ground via satellite telemetry downlink, allowing technicians to understand the satellite's status and make further judgments and adjustments.

[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 "satellite positioning and orbit determination data packets" through the bus communication interface with the whole satellite, especially continuously monitoring and parsing the telemetry mode words that characterize 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 activate its internal extended Kalman filter function, initialize the filter parameters, and re-calculate and correct the single-point positioning PVT data transmitted by the navigation information unit based on the orbit dynamics model and the original observations. However, it will still maintain the data state output to the interactive interface unit, that is, the positioning data and orbit six-root 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 "effective real-time filtering of orbit determination" state. If it is in the "effective real-time filtering of orbit determination" state, it enters the functional step (c) of this level; otherwise, it continues to monitor the "effective real-time filtering of orbit determination" 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" command to the orbit determination calculation unit.

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

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

[0062] (a) The GNSS receiver's interactive interface unit uses the telemetry mode word "normal" (representing the satellite's orbital state) as the navigation system's operating mode telemetry value "normal mode," and the telemetry value "real-time filtering" (representing the orbit determination data output strategy currently used by the navigation system), as described above, into a fast-transmit telemetry frame. This frame is then autonomously reported to the entire satellite via the interface with the satellite. This fast-transmit telemetry frame can be transmitted to the ground via satellite telemetry downlink, allowing technicians to understand the satellite's status and make further judgments and adjustments.

[0063] With the continuous development of remote sensing technology, remote sensing satellites often carry navigation and positioning systems to provide high-precision position, velocity, orbit, and time information for satellite platforms and remote sensing payloads, assisting the satellite payloads in performing their tasks. The high-precision orbit information output by the navigation and positioning system includes not only single-point positioning results but also incorporates a simplified orbital dynamics model for orbit integration and corrects the orbit using GNSS measurement data to obtain stable and reliable orbit determination data. This process may include: ① using the calculated and converted time, position, velocity, and orbit information as state variables of a filter; ② establishing an orbital dynamics model including perturbations such as the Earth's gravitational field, atmospheric drag, and light pressure, and updating the state variables over time; ③ using the pseudorange and pseudorange rate of change observed by the GNSS receiver as observations, establishing a filter observation model to update the observations; ④ outputting the orbital root numbers and satellite position, velocity, and time information.

[0064] During remote sensing satellite missions, multiple orbit adjustments are required using the thrust system to achieve or maintain the target orbit. Considering the design cost of navigation and positioning systems and the low frequency of on-orbit adjustments, the orbital dynamics models used by navigation and positioning systems typically do not incorporate thrust information. During orbit adjustments, the orbital data output by the navigation and positioning system may exhibit significant deviations, or even filter divergence and orbit determination failure, leading to data interruptions. This can fail to meet the operational requirements of the entire satellite and its payloads, and even affect the overall mission performance.

[0065] Without considering the introduction of thrust information, existing technologies lack effective and automatic methods to circumvent the aforementioned shortcomings in the remote sensing satellite orbit adjustment process. Typically, they rely on simple reliability strategies, such as filter divergence judgment set within the navigation and positioning system's internal software, to restart the orbit determination filter. To ensure system stability, the orbit determination filter restart threshold is often designed with fault tolerance, leading to problems such as untimely restart operations and difficulty in quantifying the impact duration, thus affecting the stability and accuracy of the entire satellite mission. Furthermore, restarting the navigation system's orbit determination module via ground-based telemetry and control analysis and uplink remote control commands, without establishing a stable orbit before the module is operational, relies on ground-injected orbit maintenance tasks. This lacks autonomy, consumes valuable telemetry and control time during satellite orbit changes, and contradicts the design principles of "usability" and "ease of use" for remote sensing satellites. This invention provides an autonomous switching output strategy for orbit determination data during remote sensing satellite orbit change. Through hierarchical autonomous monitoring, execution, and reporting functions, it sequentially identifies and monitors the start of the orbit change, switches the orbit determination data output between the orbit calculation module and the navigation information module, and reports the current orbit determination strategy to the entire satellite via telemetry. Then, it enters a second-level autonomous monitoring, execution, and reporting function to sequentially identify and monitor the end of the orbit change, initializes the filter, switches the orbit determination data output between the orbit calculation module and the navigation information module, and reports the orbit determination output strategy for the entire satellite. This autonomous switching function for orbit determination data output can be enabled or disabled via command settings. The specific method is as follows:

[0066] Figure 2 The internal functional principles and information flow of the navigation system are presented. At the front end of the navigation system are the GNSS receiving antenna and the filtering and low-noise amplifier. Following this is the main component implementing the navigation system's functions, the GNSS receiver, which generally consists of a navigation information processing unit, an orbit determination calculation unit, and an interface unit. Different integration and separation methods of these units can result in various GNSS receiver design schemes, but the scheme described in this section still possesses universality.

[0067] In a representative example, navigation satellite signals enter a filter and low-noise amplifier through a GNSS receiving antenna, and then enter the navigation information processing unit of the GNSS receiver for signal acquisition, tracking, despreading, and demodulation. Based on this, measurement data such as raw observations are extracted, as well as single-point positioning PVT data in the WGS84 coordinate system. The system calculates the positioning results and sends them, along with observation information, to the orbit determination calculation unit. The orbit determination calculation unit receives the single-point positioning PVT data sent by the navigation information processing unit. Using raw observation data and other data, a Kalman filter algorithm based on the orbital dynamics model was used to obtain positioning data in the J2000 coordinate system. Orbit determination data based on six orbital elements The system calculates and prioritizes outputting data to the interaction interface unit, while also accepting commands from the interaction interface unit. The interaction interface unit packages the received data according to the communication protocol specified by the entire satellite and outputs it through the interaction interface with the entire satellite, while simultaneously receiving data input from the entire satellite.

[0068] In this embodiment, the autonomous switching output of orbit determination data during the orbit change process of the remote sensing satellite is set via command. If the interactive interface unit of the GNSS receiver in the satellite navigation system receives the "Autonomous switching strategy for orbit change output" command from the onboard computer, it enters the "enabled" state of the autonomous switching function for orbit determination data output. Afterward, 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 "satellite positioning and orbit determination data packets" through the bus communication interface with the whole satellite, and in particular, continuously monitors and parses the telemetry mode words that characterize the satellite orbit status.

[0071] (b) The GNSS receiver's interactive interface unit software monitors the satellite orbit status telemetry mode word. If the mode word is continuously determined to be "changing orbit" for more than 10 seconds, then proceed to step (c). Otherwise, the GNSS receiver's interactive interface unit 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 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 information, including the original observations, is sent to the orbit determination calculation unit of the GNSS receiver. At this point, 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] ②The 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) Upon receiving the "Orbit Determination Data Output Prohibition" command, the orbit determination calculation unit will disable its internal extended Kalman filter function and will no longer process the single-point positioning PVT data transmitted from the navigation information unit based on the orbit dynamics model and the original observations. The system performs recursion and correction, and no longer outputs the aforementioned extended Kalman filtered positioning data to the interaction interface unit. and orbital six-root data

[0076] (c) The interactive interface unit of the GNSS receiver autonomously sends a "positioning data conversion output" command 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 and orbit determination data converted from the single-point positioning result received from the navigation information processing unit. Specifically, it will convert the single-point positioning PVT data in the WGS84 coordinate system. Positioning data converted to J2000 coordinate system Simultaneously, the positioning data in the J2000 coordinate system at that moment is converted into the instantaneous orbital six-axis data in the J2000 coordinate system. It also transmits the original observations and other data to the interactive interface unit of the GNSS receiver.

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

[0079] (a) The GNSS receiver's interactive interface unit takes the telemetry mode word "Changing Orbit" (representing the satellite's orbital state) as the navigation system's operating mode telemetry value "Changing Orbit Mode," and the telemetry value "Single Point Positioning" (representing the orbit determination data output strategy currently used by the navigation system), as described above, and fills it into a fast transmission telemetry frame. This frame is then autonomously reported to the entire satellite via the interface with the satellite. This fast transmission telemetry frame can be transmitted to the ground via satellite telemetry downlink, allowing technicians to understand the satellite's status and make further judgments and adjustments.

[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 "satellite positioning and orbit determination data packets" through the bus communication interface with the whole satellite, especially continuously monitoring and parsing the telemetry mode words that characterize the satellite orbit status;

[0082] (b) The GNSS receiver's interactive interface unit software 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 GNSS receiver's interactive interface unit 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] Upon receiving this instruction, the orbit determination calculation unit will activate its internal extended Kalman filter function. The filter parameters will be initialized, and the single-point positioning PVT data transmitted from the navigation information unit will be recursively calculated and corrected based on the orbit dynamics model and the original observations. However, the data output to the interaction interface unit will remain in the same state, i.e., the positioning data directly converted from the single-point positioning result received from the navigation information processing unit. And the orbital 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 "effective real-time filtering of orbit determination" state. If it is in the "effective real-time filtering of orbit determination" state, it enters the functional step (c) of this level; otherwise, it continues to monitor the "effective real-time filtering of orbit determination" 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" command to the orbit determination calculation unit.

[0088] After receiving the "Orbit Determination Data Output Allow" command, the orbit determination calculation unit will re-output the positioning data in the J2000 coordinate system after correction by the extended Kalman filter function. And orbital six-root data And the interactive interface unit for transmitting raw observations to the GNSS receiver.

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

[0090] (a) The GNSS receiver's interactive interface unit uses the telemetry mode word "normal" (representing the satellite's orbital state) as the navigation system's operating mode telemetry value "normal mode," and the telemetry value "real-time filtering" (representing the orbit determination data output strategy currently used by the navigation system), as described above, into a fast-transmit telemetry frame. This frame is then autonomously reported to the entire satellite via the interface with the satellite. This fast-transmit telemetry frame can be transmitted to the ground via satellite telemetry downlink, allowing technicians to understand the satellite's status and make further judgments and adjustments.

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

[0092] This embodiment also provides an electronic device, including: a memory for storing computer-readable instructions; and a processor for running the computer-readable instructions and executing a method for autonomously switching and outputting orbit determination data of a navigation and positioning system.

[0093] The orbit determination data output strategy of the navigation and positioning system proposed in this invention, compared to not switching the orbit determination data output or relying solely on the internal software reliability strategy of restarting the filter, not only ensures the accuracy of the output position and velocity data and orbit data, but also guarantees the uninterrupted output of position and velocity data and orbit data, thus ensuring the continuity of the satellite mission. The autonomous switching output method of the navigation and positioning system proposed in this invention includes autonomous detection, autonomous execution, and autonomous reporting functions, which can be fully implemented autonomously on the satellite without relying on uplink remote control commands from the ground telemetry and control arc or downlink telemetry for interpretation and analysis. The autonomous switching output function of the navigation and positioning system during the orbit change of the remote sensing satellite proposed in this invention can be set to "enable" or "disable" state by commands, making the method flexible and controllable throughout the entire satellite mission. The autonomous switching output method of the navigation and positioning system proposed in this invention can be effectively applied to general designs and is suitable for various high-orbit / low-orbit remote sensing satellites with orbit change requirements.

[0094] Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make possible changes and modifications to the technical solutions of the present invention by utilizing the methods and techniques disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solutions of the present invention shall fall within the protection scope of the technical solutions of the present invention.

Claims

1. A method for autonomous switching of orbit data output of a navigation positioning system, characterized in that Comprising: Step S1: the interactive interface unit of the GNSS receiver receives the satellite positioning and orbit determination data packet transmitted by the whole 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 determined to be "in orbit change" for more than a preset time, 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 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 step S4 is entered, otherwise step S1 is returned; Step S4: the interactive interface unit autonomously sends the "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 closes 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 converts 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 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 whole satellite; Step S7: the interactive interface unit receives the second satellite positioning and orbit determination data packet transmitted by the whole 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 state telemetry mode word is continuously determined to be "normal" for more than a preset time, step S9 is entered, otherwise step S7 is returned; Step S9: the interactive interface unit of the GNSS receiver autonomously sends the "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 the 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 valid real-time filtering" state, if it is in the "orbit determination valid real-time filtering" state, step S11 is entered; Step S11: the interactive interface unit autonomously sends the "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 current navigation system working mode telemetry value and the current orbit determination data output strategy telemetry value to the whole satellite.

2. The method of claim 1, wherein the navigation positioning system is a Global Navigation Satellite System (GNSS). The satellite orbit state telemetry mode word is continuously determined to be "in orbit change" for more than 10 seconds.

3. The method of claim 1, wherein the navigation positioning system data autonomous switching output method is characterized by: The orbit determination calculation unit converts the single point positioning PVT data to obtain the positioning and orbit determination data includes: The PVT data is converted from the WGS84 coordinate system to the J2000 coordinate system to obtain positioning data in the J2000 coordinate system; The positioning data in the J2000 coordinate system is converted into instantaneous orbital elements in the J2000 coordinate system.

4. The method of claim 1, wherein the navigation positioning system data autonomous switching output method is characterized by: In step S6, the interactive interface unit reports the satellite orbit state telemetry mode word "in orbit transfer" as the navigation system working mode telemetry value "orbit transfer mode", the positioning and orbit determination data and the original observation information as the orbit determination data output strategy telemetry value, and the navigation system working mode telemetry value and the orbit determination data output strategy telemetry value to the whole satellite.

5. The method of claim 1 or 4, wherein the navigation positioning system is a Global Positioning System (GPS). The interactive interface unit fills the current navigation system working mode telemetry value and the current orbit determination data output strategy telemetry value into the fast transmission telemetry frame and reports them to the whole satellite.

6. The method of claim 1, wherein: The satellite orbit state telemetry mode word is continuously determined as "normal" for more than 10 seconds.

7. The method of claim 1, wherein: The positioning and orbit determination data after the extended Kalman filter function correction includes the positioning data after the extended Kalman filter function correction and the instantaneous orbital elements.

8. The method of claim 1, wherein: In step S12, the interactive interface unit reports the satellite orbit state telemetry mode word "normal" as the navigation system working mode telemetry value "normal mode", the positioning and orbit determination data after the extended Kalman filter function correction and the original observation information as the orbit determination data output strategy telemetry value, and the navigation system working mode telemetry value and the orbit determination data output strategy telemetry value to the whole satellite.

9. The method of claim 1 or 8, wherein the navigation positioning system is a Global Positioning System (GPS). The interactive interface unit fills the current navigation system working mode telemetry value and the current orbit determination data output strategy telemetry value into the fast transmission telemetry frame and reports them to the whole satellite.

10. An electronic device, comprising: Comprise: a memory for storing computer readable instructions; and a processor for running the computer readable instructions to perform the method of any one of claims 1-9.

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