Measurement and control navigation method and device for S / L frequency band of lunar probe

Abstract

The invention relates to an S / L frequency band measurement and control navigation method and device for a lunar probe. The method comprises the following steps: an S frequency band measurement and control antenna receives an S frequency band measurement and control uplink signal; the L-band navigation antenna receives an L-band navigation signal; an S-band measurement and control uplink signal is divided into two paths of signals through a low-noise amplifier, and a measurement and control baseband signal and a navigation auxiliary baseband signal are generated through down-conversion; performing amplification and down-conversion on the L-band navigation signal to generate a navigation baseband signal; the measurement and control response receiving module demodulates the measurement and control baseband signal; the GNSS navigation receiving module demodulates the navigation auxiliary baseband signal and the navigation baseband signal; and the GNSS navigation receiving module integrates the navigation auxiliary information and the navigation information to navigate and position the lunar probe. On the premise that the measurement and control performance and the GNSS navigation performance are not influenced, the combined measurement and navigation of the ground station and the GNSS satellite are integrally realized, so that the design of the measurement and control equipment carried by the lunar probe is optimized, and the method has a wide practical engineering application prospect.

Description

Technical Field

[0001] The present invention relates to the field of deep space tracking and control technology, and in particular to a lunar probe S / L band tracking and control navigation method and device. Background Art

[0002] At present, the tracking and measurement of lunar probes mainly adopts the S band, and is completed by the cooperation of ground-based measurement and control equipment and on-board measurement and control transponders. Therefore, ground-based measurement and control resources can only provide measurement and navigation support for lunar probes in a time-sharing manner. However, with the continuous advancement of unmanned and manned lunar exploration projects, there are more and more lunar probes in orbit, and the ground measurement and control resources are very limited. The navigation of lunar probes using traditional ground-based measurement methods has encountered bottlenecks. The Global Navigation Satellite System (GNSS) can provide high-precision autonomous navigation services for multiple different targets at the same time, which can effectively reduce the requirements of the ground-based measurement system for station geometry, equipment performance and working arc. At the same time, it can back up each other with the ground-based system and integrate data processing, thereby further improving the reliability and accuracy of navigation. However, the application of GNSS technology for navigation in the terrestrial and lunar space range faces difficulties such as signal weakening, fewer visible stars, and worse measurement geometry. Therefore, how to comprehensively utilize ground-based measurement and GNSS technology to make the best use of their strengths and avoid their weaknesses, so as to achieve real-time and autonomous navigation of lunar probes is one of the hot technologies studied at home and abroad.

[0003] If the pseudo-range measurement signal and auxiliary information such as station address and ranging correction can be added to the existing S-band TT&C uplink signal, and the probe is navigated by using this information and GNSS navigation signal, the problem of weak GNSS reception signal and small number of visible stars can be effectively improved. However, the TT&C and navigation functions of the lunar probe are currently designed and implemented separately. The S-band TT&C signals and L-band navigation signals are processed separately by the TT&C transponder and GNSS navigation receiver, respectively, which cannot meet the integrated and lightweight design requirements of the probe. Summary of the invention

[0004] In order to solve the technical problems existing in the above-mentioned prior art, the purpose of the present invention is to provide a lunar probe S / L-band measurement, control and navigation method and device, which integrates the lunar probe measurement and control S-band and GNSS navigation L-band signal reception into an integrated design, realizes joint measurement and navigation positioning while performing normal measurement and control, and meets the integrated and lightweight design requirements of the lunar probe.

[0005] To achieve the above-mentioned object of the invention, the present invention provides a lunar probe S / L band measurement, control and navigation method, comprising the following steps:

[0006] Step S1, the S-band measurement and control antenna receives an S-band measurement and control uplink signal from a ground station, wherein the S-band measurement and control uplink signal includes measurement and control uplink information and navigation assistance information; the L-band navigation antenna receives an L-band navigation signal transmitted from a GNSS navigation satellite, wherein the L-band navigation signal includes navigation information;

[0007] Step S2, the received S-band measurement and control uplink signal is divided into two signals through a low noise amplifier and down-converted to generate a measurement and control baseband signal and a navigation auxiliary baseband signal; the L-band navigation signal is amplified and down-converted to generate a navigation baseband signal;

[0008] Step S3, the measurement and control response receiving module demodulates the measurement and control uplink information in the measurement and control baseband signal;

[0009] Step S4: The GNSS navigation receiving module demodulates the navigation assistance information in the navigation assistance baseband signal and the navigation information in the navigation baseband signal;

[0010] Step S5: The GNSS navigation receiving module integrates the navigation auxiliary information and the navigation information to perform navigation and positioning of the lunar probe.

[0011] According to a technical solution of the present invention, the navigation assistance information includes pseudocode ranging and station address information and ranging correction, the ranging correction includes clock error and signal propagation delay error correction, the clock error is the deviation between the atomic clock of the ground station and the system time, the signal propagation delay error correction includes the refraction error correction caused by the troposphere and ionosphere to the signal.

[0012] According to a technical solution of the present invention, performing lunar probe navigation and positioning in step S5 includes:

[0013] The GNSS navigation receiving module uses the navigation auxiliary information to correct the error of the ground station pseudo-range measurement, and uses the GNSS navigation information to correct the error of the navigation satellite pseudo-range measurement, combines the two types of measurement quantities to establish corresponding state equations and measurement equations and linearizes them, and uses adaptive extended Kalman filtering to realize lunar probe navigation and positioning.

[0014] According to one aspect of the present invention, the present invention provides a lunar probe S / L band measurement, control and navigation integrated machine, which is used to implement the above method, including:

[0015] An S-band measurement and control antenna, used to receive an S-band measurement and control uplink signal from a ground station; the S-band measurement and control signal includes navigation assistance information and measurement and control information;

[0016] An L-band navigation antenna, used to receive an L-band navigation signal transmitted from a GNSS navigation satellite, wherein the L-band navigation signal includes a navigation signal;

[0017] An S-band LNA is used to connect to the S-band measurement and control antenna, amplify the S-band measurement and control uplink signal, and divide the amplified S-band measurement and control uplink signal into two signals;

[0018] An L-band LNA, used to connect to the L-band navigation antenna and amplify the L-band navigation signal;

[0019] The first down-converter and the second down-converter are connected to the S-band LNA, and respectively generate a measurement and control baseband signal and a navigation auxiliary baseband signal according to the amplified S-band measurement and control uplink signal;

[0020] a third down-converter, connected to the L-band LNA, and configured to generate a navigation baseband signal according to the amplified L-band navigation signal;

[0021] an on-board frequency source, connected to the first down-converter, the second down-converter and the third down-converter, and configured to provide a reference signal for the first down-converter, the second down-converter and the third down-converter;

[0022] A measurement and control response receiving module, connected to the first down-converter, and used to demodulate the measurement and control uplink information in the measurement and control baseband signal;

[0023] The GNSS navigation receiving module is connected to the second down-converter and the third down-converter, and is used to demodulate the navigation assistance information in the navigation assistance baseband signal and the navigation information in the navigation signal, and to perform navigation positioning of the lunar probe by integrating the navigation assistance information and the navigation information.

[0024] In the above technical solution, the navigation assistance information includes pseudocode ranging, station address and ranging correction, the ranging correction includes clock error and signal propagation delay error correction, the clock error is the deviation between the atomic clock of the ground station and the system time, the signal propagation delay error correction includes the refraction error correction caused by the troposphere and ionosphere to the signal.

[0025] Compared with the prior art, the present invention has the following beneficial effects:

[0026] The present invention proposes an S / L band measurement, control and navigation method and device for a lunar probe. Under the existing normal measurement and control conditions of the S band of the lunar probe, the method and device receive and process the pseudorange and auxiliary navigation information of the ground station, and simultaneously receive the GNSS navigation satellite signals of the L band. Without affecting the existing measurement and control performance and GNSS navigation performance, the method and device realize the joint measurement and navigation of the ground station and the GNSS satellite in an integrated manner, thereby optimizing the design of the measurement and control equipment onboard the lunar probe, meeting the requirements of the integrated and lightweight design of the lunar probe, and having broad prospects for practical engineering applications.

[0027] The present invention can simultaneously process auxiliary navigation information, navigation information and measurement and control information, thereby realizing simultaneous measurement and control and navigation operations, shortening the process and time of the lunar probe using GNSS satellites for autonomous navigation, reducing the delay of GNSS satellite navigation, meeting the requirements of the lunar probe's autonomous navigation for the timeliness of processing navigation information and auxiliary navigation information, and improving the accuracy of the lunar probe's GNSS satellite navigation. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0029] Figure 1 A flowchart of a S / L band measurement, control and navigation method for a lunar probe provided in accordance with one embodiment of the present invention is schematically shown;

[0030] Figure 2 The structure diagram of the S / L band measurement, control and navigation device of the lunar probe provided in accordance with one embodiment of the present invention is schematically shown.

[0031] The corresponding relationship between the component names and the reference numerals is as follows:

[0032] 1. S-band measurement and control antenna; 2. L-band navigation antenna; 3. S-band LNA; 4. L-band LNA; 5. First downconverter; 6. Second downconverter; 7. Third downconverter; 8. Onboard frequency source; 9. Measurement and control response receiving module; 10. GNSS navigation receiving module. DETAILED DESCRIPTION

[0033] The description of the embodiments of this specification should be combined with the corresponding drawings, which should be considered as part of the complete specification. In the drawings, the shape or thickness of the embodiments may be enlarged and indicated for simplification or convenience. Furthermore, the parts of each structure in the drawings will be described separately. It is worth noting that the elements not shown in the drawings or not described in words are in a form known to ordinary technicians in the relevant technical field.

[0034] The description of the embodiments herein and any reference to directions and orientations are only for the convenience of description and are not to be construed as any limitation on the scope of protection of the present invention. The following description of the preferred embodiments may involve combinations of features, which may exist independently or in combination, and the present invention is not particularly limited to the preferred embodiments. The scope of the present invention is defined by the claims.

[0035] like Figure 1 and Figure 2 As shown, the present invention provides a lunar probe S / L band measurement, control and navigation integrated machine, comprising:

[0036] S-band tracking and control antenna 1, used to receive S-band tracking and control uplink signals from a ground station; the S-band tracking and control signals contain navigation assistance information and tracking and control information;

[0037] An L-band navigation antenna 2, used for receiving an L-band navigation signal transmitted from a GNSS navigation satellite, wherein the L-band navigation signal includes a navigation signal;

[0038] An S-band LNA 3 is used to connect to the S-band measurement and control antenna 1, amplify the S-band measurement and control uplink signal, and divide the amplified S-band measurement and control uplink signal into two signals;

[0039] L-band LNA 4, used to connect to the L-band navigation antenna 2 and amplify the L-band navigation signal;

[0040] The first down-converter 5 and the second down-converter 6 are connected to the S-band LNA 3, and respectively generate a tracking and control baseband signal and a navigation auxiliary baseband signal according to the amplified S-band tracking and control uplink signal;

[0041] A third down-converter 7, connected to the L-band LNA 4, for generating a navigation baseband signal according to the amplified L-band navigation signal;

[0042] an on-board frequency source 8, connected to the first down-converter 5, the second down-converter 6 and the third down-converter 7, and configured to provide a reference signal for the first down-converter 5, the second down-converter 6 and the third down-converter 7;

[0043] A measurement and control response receiving module 9, connected to the first down converter 5, for demodulating the measurement and control uplink information in the measurement and control baseband signal;

[0044] The GNSS navigation receiving module 10 is connected to the second downconverter 6 and the third downconverter 7, and is used to demodulate the navigation assistance information in the navigation assistance baseband signal and the navigation information in the navigation signal, and integrate the navigation assistance information and the navigation information to perform navigation positioning of the lunar probe.

[0045] In the above technical solution, the navigation assistance information includes pseudocode ranging, station address and ranging correction, the ranging correction includes clock error and signal propagation delay error correction, the clock error is the deviation between the atomic clock of the ground station and the system time, the signal propagation delay error correction includes the refraction error correction caused by the troposphere and ionosphere to the signal.

[0046] A lunar probe S / L band measurement, control and navigation method of the present invention comprises the following steps:

[0047] Step S1, the S-band measurement and control antenna 1 receives an S-band measurement and control uplink signal from a ground station, wherein the S-band measurement and control uplink signal includes measurement and control uplink information and navigation assistance information; the L-band navigation antenna 2 receives an L-band navigation signal transmitted from a GNSS navigation satellite, wherein the L-band navigation signal includes navigation information;

[0048] Specifically, the existing ground stations in Kashgar, Jiamusi, Argentina, Qingdao and Namibia are used to transmit the S-band TT&C uplink signal through the S-band TT&C channel. The S-band TT&C uplink signal has modulated auxiliary navigation signals such as pseudo-code ranging, station address and ranging correction. Therefore, the S-band TT&C uplink signal contains both TT&C information and auxiliary navigation information. The navigation auxiliary information specifically includes pseudo-code ranging, station address information and ranging correction. Pseudo-code ranging is used to measure the distance from the ground station to the detector. The ranging correction includes the clock error and the signal propagation delay error correction. The clock error is the deviation between the atomic clock of the ground station and the system time. The system time can be selected from Coordinated Universal Time UTC or Beijing Time BJT, etc. The signal propagation delay error correction includes the refraction error correction caused by the troposphere and ionosphere to the signal.

[0049] The L-band navigation antenna 2 receives the L-band navigation signal transmitted from the GNSS navigation satellite. The navigation information contained in the L-band navigation signal can be used to realize the autonomous navigation of the lunar probe.

[0050] Step S2, the received S-band measurement and control uplink signal is divided into two signals through a low noise amplifier and down-converted to generate a measurement and control baseband signal and a navigation auxiliary baseband signal; the L-band navigation signal is amplified and down-converted to generate a navigation baseband signal;

[0051] The S-band TT&C antenna 1 receives the S-band TT&C uplink signal, which is amplified by the S-band LNA 3 and then divided into two signals. The two signals are respectively passed through the first down-converter 5 and the second down-converter 6 to generate a TT&C baseband signal and a navigation auxiliary baseband signal.

[0052] The L-band LNA 4 amplifies the received L-band navigation signal, and the amplified L-band navigation signal is passed through the third down-converter 7 to generate a navigation baseband signal.

[0053] Step S3, the measurement and control response receiving module 9 demodulates the measurement and control uplink information in the measurement and control baseband signal;

[0054] The measurement and control response receiving module 9 receives the measurement and control baseband signal and demodulates the measurement and control uplink information in the measurement and control baseband signal to realize the measurement and control of the lunar probe.

[0055] Step S4: the GNSS navigation receiving module 10 demodulates the navigation assistance information in the navigation assistance baseband signal and the navigation information in the navigation baseband signal;

[0056] The GNSS navigation receiving module 10 receives the navigation auxiliary baseband signal from the second downconverter 6 and the navigation baseband signal from the third downconverter 7, and demodulates the navigation auxiliary information in the navigation auxiliary baseband signal and the navigation information in the navigation baseband signal.

[0057] Step S5: The GNSS navigation receiving module 10 integrates the navigation auxiliary information and the navigation information to perform navigation and positioning of the lunar probe.

[0058] The GNSS navigation receiving module 10 uses the navigation auxiliary information to correct the errors of the pseudo-range measurements of the ground station, and uses the GNSS navigation information to correct the errors of the pseudo-range measurements of the GNSS navigation satellite. The two types of measurements are combined to establish the corresponding state equations and measurement equations and linearize them, and the adaptive extended Kalman filter is used to realize the navigation and positioning of the lunar probe.

[0059] In addition, it should be noted that the present invention can be provided as a method, an apparatus or a computer program product. Therefore, the embodiments of the present invention can take the form of a complete hardware embodiment, a complete software embodiment or an embodiment combining software and hardware. Moreover, the embodiments of the present invention can take the form of a computer program product implemented on one or more computer-usable storage media containing computer-usable program code.

[0060] The embodiments of the present invention are described with reference to the flowcharts and / or block diagrams of the methods, terminal devices (systems), and computer program products according to the embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, an embedded processor, or other programmable data processing terminal device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0061] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device, so that a series of operation steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable terminal device provide for implementing the process in the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0062] It should also be noted that, in this article, the terms "include", "comprises" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or terminal device. In the absence of further restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, article or terminal device including the elements.

[0063] Finally, it should be noted that the above is a preferred embodiment of the present invention. It should be pointed out that although the preferred embodiment of the present invention has been described, for those skilled in the art, once the basic creative concept of the present invention is known, several improvements and modifications can be made without departing from the principles of the present invention, and these improvements and modifications should also be regarded as the protection scope of the present invention. Therefore, the attached claims are intended to be interpreted as including the preferred embodiment and all changes and modifications that fall within the scope of the embodiments of the present invention.

Claims

1. A lunar probe S / L band measurement, control and navigation method, characterized in that: The following steps are involved: Step S1, an S-band measurement and control antenna (1) receives an S-band measurement and control uplink signal from a ground station, wherein the S-band measurement and control uplink signal includes measurement and control uplink information and navigation assistance information; an L-band navigation antenna (2) receives an L-band navigation signal transmitted from a GNSS navigation satellite, wherein the L-band navigation signal includes navigation information; Step S2, the received S-band measurement and control uplink signal is divided into two signals through a low noise amplifier and down-converted to generate a measurement and control baseband signal and a navigation auxiliary baseband signal; the L-band navigation signal is amplified and down-converted to generate a navigation baseband signal; Step S3, the measurement and control response receiving module (9) demodulates the measurement and control uplink information in the measurement and control baseband signal; Step S4, the GNSS navigation receiving module (10) demodulates the navigation assistance information in the navigation assistance baseband signal and the navigation information in the navigation baseband signal; Step S5: the GNSS navigation receiving module (10) combines the navigation auxiliary information and the navigation information to perform navigation and positioning of the lunar probe.

2. The S / L band measurement, control and navigation method for a lunar probe according to claim 1, characterized in that: The navigation assistance information includes pseudocode ranging and station address information and ranging corrections. The ranging corrections include clock errors and signal propagation delay error corrections. The clock error is the deviation between the atomic clock of the ground station and the system time. The signal propagation delay error correction includes the refraction error correction caused by the troposphere and ionosphere to the signal.

3. The S / L band measurement, control and navigation method for a lunar probe according to claim 1, characterized in that: The step S5 of performing lunar probe navigation and positioning includes: The GNSS navigation receiving module (10) uses the navigation auxiliary information to perform error correction on the pseudo-range measurement of the ground station, and uses the navigation information to perform error correction on the pseudo-range measurement of the GNSS navigation satellite, combines the two types of measurement quantities to establish corresponding state equations and measurement equations and perform linearization, and uses an adaptive extended Kalman filter to achieve navigation and positioning of the lunar probe.

4. A lunar probe S / L band measurement, control and navigation device, characterized in that: The method for implementing any one of claims 1 to 3 comprises: An S-band measurement and control antenna (1) is used to receive an S-band measurement and control uplink signal from a ground station; the S-band measurement and control uplink signal contains navigation assistance information and measurement and control information; An L-band navigation antenna (2) is used to receive an L-band navigation signal transmitted from a GNSS navigation satellite, wherein the L-band navigation signal contains a navigation signal; An S-band LNA (3) is used to connect to the S-band measurement and control antenna (1), amplify the S-band measurement and control uplink signal, and divide the amplified S-band measurement and control uplink signal into two signals; An L-band LNA (4), used for connecting to the L-band navigation antenna (2) to amplify the L-band navigation signal; A first down-converter (5) and a second down-converter (6) are connected to the S-band LNA (3) and respectively generate a measurement and control baseband signal and a navigation auxiliary baseband signal according to the amplified S-band measurement and control uplink signal; a third down-converter (7), connected to the L-band LNA (4), and configured to generate a navigation baseband signal according to the amplified L-band navigation signal; an on-board frequency source (8), connected to the first down-converter (5), the second down-converter (6) and the third down-converter (7), and used to provide a reference signal for the first down-converter (5), the second down-converter (6) and the third down-converter (7); A measurement and control response receiving module (9), connected to the first down-converter (5), and used for demodulating the measurement and control uplink information in the measurement and control baseband signal; A GNSS navigation receiving module (10) is connected to the second down-converter (6) and the third down-converter (7), and is used to demodulate the navigation assistance information in the navigation assistance baseband signal and the navigation information in the navigation signal, and to perform navigation positioning of the lunar probe by combining the navigation assistance information and the navigation information.

5. The S / L band measurement, control and navigation device for a lunar probe according to claim 4, characterized in that: The navigation assistance information includes pseudocode ranging, station address and ranging correction. The ranging correction includes clock error and signal propagation delay error correction. The clock error is the deviation between the atomic clock of the ground station and the system time. The signal propagation delay error correction includes the refraction error correction caused by the troposphere and ionosphere to the signal.

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