Efficient ephemeris data issuing method and device, equipment and storage medium

Abstract

The invention provides an efficient ephemeris data issuing method, device and equipment and a storage medium, and belongs to the technical field of satellite finding. The method is based on TLE ephemeris data, and azimuth angles and pitch angles of a satellite corresponding to a ground antenna at different moments are calculated; fitting the azimuth angle and the pitch angle of the ground antenna by using a least square method to obtain a polynomial coefficient of the azimuth angle and the pitch angle, and issuing the polynomial coefficient as ephemeris data to the embedded single-chip microcomputer for storage; the embedded single-chip microcomputer obtains the time interval between the current time and the satellite entry timestamp through GPS time synchronization calculation, extracts a polynomial coefficient from ephemeris data, carries out polynomial calculation according to the time interval and the polynomial coefficient, and obtains the directional angle of the ground antenna at each moment in real time. According to the method, the calculation efficiency and smoothness of the ephemeris data are greatly improved, and the storage requirement of an embedded system is remarkably reduced.

Description

Technical Field

[0001] The present invention relates to the field of satellite search technology, and in particular to an efficient method, device, equipment and storage medium for sending ephemeris data. Background Art

[0002] The low-orbit satellite search system is used to control the pointing of the antenna by accurately calculating the relative position of the satellite and the ground station. In the traditional low-orbit satellite search method, STK and other software are usually used to calculate the pointing angle (azimuth and pitch angle) information of the satellite corresponding to the ground antenna at different time points through TLE ephemeris data. In order to achieve accurate satellite tracking, it is usually necessary to send a table of these pointing angles changing over time to the ground antenna control system.

[0003] However, traditional methods require the storage and transmission of a large amount of time point data, which may not be able to carry such a large amount of data for resource-constrained embedded systems (such as single-chip microcomputers). Due to the limited storage space of embedded systems, the traditional method of transmitting this data will face the problem of low storage and transmission efficiency. Therefore, a new method is urgently needed to simplify the process of sending ephemeris data, which can not only ensure pointing accuracy, but also effectively reduce the burden of storage and calculation. Summary of the invention

[0004] In view of this, the embodiments of the present invention provide an efficient method, device, equipment and storage medium for sending ephemeris data, so as to solve the problem of low transmission efficiency in the existing ephemeris data sending process.

[0005] The technical solution adopted by the present invention is: In a first aspect, the present invention provides an efficient method for sending ephemeris data, comprising: Based on TLE ephemeris data, the azimuth and elevation angles of the satellite corresponding to the ground antenna at different times are calculated; The azimuth and elevation angles of the ground antenna are fitted using the least squares method to obtain the polynomial coefficients of the azimuth and elevation angles and the polynomial coefficients are sent to the embedded microcontroller as ephemeris data for storage; The embedded single chip microcomputer calculates the time interval between the current time and the satellite entry timestamp through GPS time synchronization t , and extract the polynomial coefficients from the ephemeris data, based on the time interval t The polynomial calculation is performed with the polynomial coefficients to obtain the pointing angle of the ground antenna at each moment in real time.

[0006] Furthermore, the azimuth and elevation angle data of the satellite corresponding to the ground antenna at different times are calculated based on the TLE ephemeris data, including: Obtain TLE ephemeris data, and use the STK tool to solve the TLE ephemeris data to obtain the pointing angle data of the ground antenna of the satellite at different times. The pointing angle includes the azimuth angle and pitch angle ; Wherein, the pointing angle data is specifically: and ,in It is the corresponding time point calculated from the entry.

[0007] Further, the least square method is used to fit the azimuth and elevation angles of the ground antenna to obtain polynomial coefficients of the azimuth and elevation angles and the polynomial coefficients are sent as ephemeris data to the embedded single-chip computer for storage, including: The polynomial order is determined based on the satellite transit time, antenna aperture size, required pointing accuracy, and the computing power of the embedded single-chip microcomputer; According to the polynomial order, the azimuth angle and elevation angle of the ground antenna are fitted into polynomials about time: in, is a polynomial expression of the azimuth angle varying with time; is a polynomial expression of the pitch angle varying with time; are the coefficients of the azimuth polynomial; are the coefficients of the pitch angle polynomial; Indicates the time from the entry date n The time interval in seconds; Set the error sum of squares to: in, is the sum of squared errors in azimuth, is the predicted azimuth value of the fitting curve; is the sum of squared errors of the pitch angles, is the predicted value of the pitch angle of the fitting curve; i The index of the time point. m Indicates the number of time points, i=1,2,...,m ; The sum of squared errors of the azimuth The sum of squared errors with the pitch angle Perform minimization calculations to obtain the azimuth polynomial coefficients Polynomial coefficients with pitch angle ; The azimuth polynomial coefficients Polynomial coefficients with pitch angle As ephemeris data, it is sent to the embedded microcontroller through the communication interface for storage.

[0008] Furthermore, the square sum of the errors of the azimuth angles is The sum of squared errors with the pitch angle Perform minimization calculations to obtain the azimuth polynomial coefficients Polynomial coefficients with pitch angle ,include: Substitute the original data points into the polynomial expressions of azimuth and elevation, and use the sum of squared errors as the error function. Sum of squared errors Take partial derivatives of each coefficient and get a set of linear equations; Solve the linear equations to obtain the azimuth polynomial coefficients Polynomial coefficients with pitch angle .

[0009] In a second aspect, the present invention provides an efficient device for sending ephemeris data, comprising: The ephemeris data calculation module is used to calculate the azimuth and elevation angles of the satellite corresponding to the ground antenna at different times based on the TLE ephemeris data; The data fitting module is used to fit the azimuth and elevation angles of the ground antenna using the least square method, obtain the polynomial coefficients of the azimuth and elevation angles, and send the polynomial coefficients as ephemeris data to the embedded single-chip computer for storage; Pointing angle calculation module, used for embedded single chip microcomputer to calculate the time interval between the current time and the satellite entry timestamp through GPS time synchronization t , and extract the polynomial coefficients from the ephemeris data, based on the time interval t The polynomial calculation is performed with the polynomial coefficients to obtain the pointing angle of the ground antenna at each moment in real time.

[0010] In a third aspect, the present invention provides an efficient ephemeris data sending device, the efficient ephemeris data sending device comprising: a processor and a memory storing computer program instructions; When the processor executes the computer program instructions, the efficient method for sending ephemeris data of the first aspect is implemented.

[0011] In a fourth aspect, the present invention provides a computer storage medium having computer program instructions stored thereon, wherein the computer program instructions, when executed by a processor, implement the efficient method for sending ephemeris data of the first aspect.

[0012] In summary, the beneficial effects of the present invention are as follows: The present invention provides an efficient ephemeris data sending method, which uses the least squares method to fit the azimuth and elevation angles of the satellite corresponding to the ground antenna at different times into polynomial coefficients, and sends the polynomial coefficients to the embedded single-chip microcomputer for storage, which greatly reduces the size of the sent data and the transmission burden. The embedded system only needs to store a small amount of coefficients, and does not need to store a huge pointing data table, which significantly reduces the storage requirements of the system. At the same time, the embedded single-chip microcomputer only needs to receive the polynomial coefficients and the satellite entry start timestamp, and can obtain the pointing angle of the ground antenna at any time in real time through simple polynomial calculations, which greatly improves the calculation efficiency and smoothness, can flexibly adapt to different antenna control systems, and is particularly suitable for embedded systems with limited storage and computing resources. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the technical solution of the embodiment of the present invention, the following is a brief introduction to the drawings required for use in the embodiment of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work, and these are all within the protection scope of the present invention.

[0014] Figure 1 A flow chart of an efficient method for sending ephemeris data according to the present invention; Figure 2 This is a schematic diagram of the fitting of the azimuth curve during the satellite transit; Figure 3 This is a schematic diagram of the fitting of the pitch angle curve during satellite transit; Figure 4 The present invention is a functional module diagram of an efficient device for sending ephemeris data. DETAILED DESCRIPTION

[0015] In order to make the purpose, technical solution and advantages of the embodiment of the present invention clearer, the technical solution in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. If there is no conflict, the various features of the present invention and the embodiments can be combined with each other, all within the scope of protection of the present invention.

[0016] In the prior art, the change of pointing angle is sent down through a table calculated and stored moment by moment, but this method is difficult to implement in embedded systems with limited storage space. In order to enable a low-power single-chip microcomputer to efficiently calculate the satellite pointing at each moment in real time, the present invention uses the least squares method to fit the change of pointing angle over time, and converts the pointing angle data into polynomial coefficients, thereby significantly reducing the amount of data.

[0017] The purpose of the present invention is to propose an efficient method for sending ephemeris data, which reduces the amount of data sent by performing polynomial fitting on satellite pointing data, and solves the storage and calculation problems caused by the transmission of large amounts of pointing angles in low-orbit satellite search. The detailed implementation process of the present invention is shown in the following embodiments.

[0018] Example 1: Reference Figure 1 As shown, Figure 1 This is a flow chart of an efficient method for sending ephemeris data of the present invention. Figure 1 As shown, an efficient method for sending ephemeris data of the present invention is applied to a low-orbit satellite star search system, and the method includes: Based on TLE ephemeris data, the azimuth and elevation angles of the satellite corresponding to the ground antenna at different times are calculated; The azimuth and elevation angles of the ground antenna are fitted using the least squares method to obtain the polynomial coefficients of the azimuth and elevation angles and the polynomial coefficients are sent to the embedded microcontroller as ephemeris data for storage; The embedded single chip microcomputer calculates the time interval between the current time and the satellite entry timestamp through GPS time synchronization t , and extract the polynomial coefficients from the ephemeris data, based on the time interval t The polynomial calculation is performed with the polynomial coefficients to obtain the pointing angle of the ground antenna at each moment in real time.

[0019] Further, in an embodiment of the present invention, based on the TLE ephemeris data, calculating the azimuth and elevation angle data of the satellite corresponding to the ground antenna at different times includes the following process: Obtain TLE ephemeris data, and use the STK tool to solve the TLE ephemeris data to obtain the pointing angle data of the ground antenna of the satellite at different times. The pointing angle includes the azimuth angle and pitch angle ; Wherein, the pointing angle data is specifically: and ,in It is the corresponding time point calculated from the entry.

[0020] Specifically, satellite ephemeris, also known as two-line orbital element (TLE), is an expression used to describe the position and velocity of a space object—a two-line orbital data system. Satellite ephemeris uses the mathematical relationship between the six orbital parameters of Kepler's law to determine the time, coordinates, orientation, velocity and other parameters of a flying object with extremely high accuracy. Satellite ephemeris can accurately calculate, predict, depict and track the time, position, velocity and other operating states of satellites and flying objects; it can express the precise parameters of flying objects such as celestial bodies, satellites, spacecraft, missiles, and space debris; and it can place flying objects in three-dimensional space.

[0021] Therefore, the present invention solves the TLE ephemeris data by using the STK tool, thereby obtaining the accurate pointing angle data of the ground antenna of the satellite at different times, namely the azimuth and pitch angle. Wherein, STK is the abbreviation of Satellite Tool Kit, i.e., satellite tool kit.

[0022] Further, in an embodiment of the present invention, the azimuth and elevation angles of the ground antenna are fitted using the least squares method to obtain polynomial coefficients of the azimuth and elevation angles and the polynomial coefficients are sent as ephemeris data to the embedded single-chip computer for storage, including the following process: The polynomial order is determined based on the satellite transit time, antenna aperture, required pointing accuracy, and the computing power of the embedded single-chip microcomputer. In the low-satellite satellite search system, the polynomial order can be set to 13.

[0023] According to the polynomial order, the azimuth angle and elevation angle of the ground antenna are fitted into polynomials about time: in, Indicates azimuth; Indicates the pitch angle; are the coefficients of the azimuth polynomial; are the coefficients of the pitch angle polynomial; Indicates the time from the entry date n A time interval (i.e., time variable) in seconds. In addition, a smaller interval can be selected.

[0024] The goal of the least squares method is to solve the polynomial coefficients by minimizing the sum of squared errors between the observed data and the fitted curve. Therefore, the sum of squared errors is set to: in, is the sum of squared errors in azimuth, is the predicted azimuth value of the fitting curve; is the sum of squared errors of the pitch angles, is the predicted value of the pitch angle of the fitting curve; i The index of the time point. m Indicates the number of time points, i=1,2,...,m .

[0025] The sum of squared errors of the azimuth The sum of squared errors with the pitch angle Perform minimization calculations to obtain the azimuth polynomial coefficients Polynomial coefficients with pitch angle .

[0026] The azimuth polynomial coefficients Polynomial coefficients with pitch angle As ephemeris data, it is sent to the embedded single-chip microcomputer through the communication interface for storage, so that the embedded single-chip microcomputer only needs to store the coefficients of each polynomial, thereby reducing the storage burden of the single-chip microcomputer system.

[0027] Among them, the least square method (also known as the least square method) is a mathematical optimization technique. It finds the best function match for data by minimizing the sum of squares of errors. The least square method can be used to easily obtain unknown data and minimize the sum of squares of errors between the obtained data and the actual data. The least square method can also be used for curve fitting. The present invention converts the pointing angle data into a polynomial expression through the least square method, which greatly reduces the size of the sent data and the transmission burden.

[0028] Specifically, in the traditional satellite ephemeris data delivery method, if the 10-minute transit data is sampled at 1-second intervals, about 600 sets of azimuth data and 600 sets of elevation data (a total of 1,200 points) are required. In terms of double-precision floating point numbers (8 bytes), the data volume is about 9,600 bytes (excluding additional information). However, after the present invention adopts 13th-order polynomial fitting, it only needs to store 14 coefficients each for azimuth and elevation, a total of 28 coefficients, that is, 28×8=224 bytes, which is about 40 times less data than the original solution. Such a large compression effectively reduces the storage and transmission pressure of the embedded system, and can directly calculate the pointing angle through the current time t, reducing access pressure and improving real-time computing efficiency.

[0029] Reference Figure 2 and Figure 3 As shown, the present invention provides a fitting situation of the azimuth and elevation angles during a satellite transit. The relationship between the curve drawn by the least squares fitting polynomial formula and the original pointing is shown in the figure above. During the transit, the satellite can be aligned within a very small error according to the recalculated pointing. Figure 2 and Figure 3The 9th-order fitting effect is shown. If higher accuracy is required, the fitting order can be adjusted dynamically. It is known from practice that for general low-orbit satellite trajectories, a 0.6m-diameter VICTS antenna using a 13th-order polynomial formula can meet the antenna pointing error within 0.1 degrees.

[0030] Furthermore, in the embodiment of the present invention, the square sum of the errors of the azimuth angles is The sum of squared errors with the pitch angle Perform minimization calculations to obtain the azimuth polynomial coefficients Polynomial coefficients with pitch angle ,include: Substitute the original data points into the polynomial expressions of azimuth and elevation, and use the sum of squared errors as the error function. Sum of squared errors Take partial derivatives of each coefficient and get a set of linear equations; Solve the linear equations to obtain the azimuth polynomial coefficients Polynomial coefficients with pitch angle .

[0031] The method of the embodiment of the present invention has the following technical features: 1. Improve control smoothness: The traditional method relies on embedded system storage and rigidly uses discrete data to align the satellite, while the present invention only needs to receive polynomial coefficients and entry start timestamp, and the embedded system can obtain the pointing angle at any time in real time through simple polynomial calculation, which greatly improves the calculation efficiency and smoothness.

[0032] 2. Reduce storage requirements and transmission burden: By converting the pointing angle data into a polynomial expression, the size of the data sent and the transmission burden are greatly reduced. The embedded system only needs to store a small number of coefficients instead of a large pointing data table, which significantly reduces the system's storage requirements.

[0033] 3. Flexibility and scalability: The present invention can flexibly adapt to different antenna control systems and is particularly suitable for embedded systems with limited storage and computing resources.

[0034] Example 2: Reference Figure 4 As shown, based on Example 1, the embodiment of the present invention further provides an efficient device for sending ephemeris data, including: The ephemeris data calculation module is used to calculate the azimuth and elevation angles of the satellite corresponding to the ground antenna at different times based on the TLE ephemeris data; The data fitting module is used to fit the azimuth and elevation angles of the ground antenna using the least square method, obtain the polynomial coefficients of the azimuth and elevation angles, and send the polynomial coefficients as ephemeris data to the embedded single-chip computer for storage; The pointing angle calculation module is used for the embedded single chip computer to calculate the time interval t between the current time and the satellite entry timestamp through GPS time synchronization, and extract the polynomial coefficients from the ephemeris data, perform polynomial calculations based on the time interval t and the polynomial coefficients, and obtain the pointing angle of the ground antenna at each moment in real time.

[0035] Specifically, the working process of the efficient ephemeris data sending device of the present invention is as follows: Data calculation and preprocessing: On the high-performance computing platform, first use the TLE ephemeris data to calculate the change of the antenna pointing angle over time. Using tools such as STK, calculate the azimuth and elevation angle data table of the satellite corresponding to the ground antenna at different times. Assume that the pointing angle data obtained is and ,in It is the corresponding time point calculated from the entry.

[0036] Fitting process: The data of azimuth and elevation angles changing with time are fitted by the least squares method. The purpose of the least squares method is to find a set of polynomial coefficients that minimizes the error between the fitting curve and the original data.

[0037] When selecting the order of the polynomial, a trade-off can be made based on the satellite transit time, antenna aperture size, required pointing accuracy, and microcontroller computing power.

[0038] Assume that the azimuth and elevation angles of the antenna are and , they are time We fit the data points of azimuth and elevation angles to polynomial forms with respect to time: in: is a polynomial expression of the azimuth angle over time, Indicates the azimuth. is a polynomial expression of the elevation angle changing with time, Indicates the pitch angle. are the coefficients of the azimuth polynomial. are the coefficients of the pitch angle polynomial. Calculated from the time of entry n A time interval, also referred to as a time variable, in seconds, and a smaller interval can be selected.

[0039] The goal of the least squares method is to solve the polynomial coefficients by minimizing the sum of squared errors between the observed data and the fitted curve. The sum of squared errors is set to: in: is the sum of squared errors in azimuth, is the predicted azimuth value of the fitting curve. is the sum of squared errors of the pitch angles, is the predicted value of the pitch angle of the fitting curve; i The index of the time point. m Indicates the number of time points, i=1,2,...,m ;.

[0040] Taking the error sum of squares as the error function, by minimizing these two error functions, namely the error sum of squares Sum of squared errors , we can find the optimal polynomial coefficients and , the specific process is to solve the linear equations. The specific steps are as follows: S1: Substitute the original data points into the polynomial expression to construct the error function.

[0041] S2 takes partial derivatives of the error function for each coefficient and obtains a set of linear equations.

[0042] S3: Solve the linear equations and get the polynomial coefficients and .

[0043] Through this fitting process, the fitted polynomial coefficients are obtained.

[0044] Data transmission and download: The azimuth and elevation polynomial coefficients (and the number of coefficients) obtained by fitting are sent to the embedded MCU through the communication interface. The amount of data sent is greatly reduced, and the embedded MCU does not need to store a large amount of ephemeris data, but only needs to store the coefficients of each polynomial.

[0045] Real-time calculation of single-chip microcomputer: After receiving the polynomial coefficients and entry timestamp (usually provided by the GPS system), the embedded single-chip microcomputer obtains the azimuth and elevation angles at each moment in real time through simple polynomial calculation. Since the single-chip microcomputer is usually equipped with a GPS module, the time interval (i.e., time variable) from the current time to the entry time can be calculated through GPS time synchronization. , and then calculate the pointing angle based on the fitted polynomial formula.

[0046] For the calculation of azimuth and elevation angles, the microcontroller only needs to use the following formula: The single chip microcomputer can calculate the real-time azimuth and elevation angle of the ground antenna through the above formula.

[0047] Specifically, an embodiment of the present invention further provides an efficient ephemeris data sending device, the efficient ephemeris data sending device comprising: a processor and a memory storing computer program instructions; When the processor executes the computer program instructions, the efficient method for sending ephemeris data of the first aspect is implemented.

[0048] Specifically, an embodiment of the present invention further provides a computer storage medium, wherein the computer storage medium stores computer program instructions, and when the computer program instructions are executed by a processor, the efficient ephemeris data sending method of the first aspect is implemented. Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An efficient method for sending ephemeris data, characterized in that: include: Based on TLE ephemeris data, the azimuth and elevation angles of the satellite corresponding to the ground antenna at different times are calculated; The azimuth and elevation angles of the ground antenna are fitted using the least squares method to obtain the polynomial coefficients of the azimuth and elevation angles and the polynomial coefficients are sent to the embedded microcontroller as ephemeris data for storage; The embedded single chip microcomputer calculates the time interval between the current time and the satellite entry timestamp through GPS time synchronization t , and extract the polynomial coefficients from the ephemeris data, based on the time interval t The polynomial calculation is performed with the polynomial coefficients to obtain the pointing angle of the ground antenna at each moment in real time.

2. The efficient method for sending ephemeris data according to claim 1, characterized in that: The method of calculating the azimuth and elevation angles of the satellite corresponding to the ground antenna at different times based on the TLE ephemeris data includes: Obtain TLE ephemeris data, and use the STK tool to solve the TLE ephemeris data to obtain the pointing angle data of the ground antenna of the satellite at different times. The pointing angle includes the azimuth angle and pitch angle ; Wherein, the pointing angle data is specifically: and ,in It is the corresponding time point calculated from the entry.

3. The efficient method for sending ephemeris data according to claim 1, characterized in that: The method of fitting the azimuth and elevation angles of the ground antenna using the least square method to obtain polynomial coefficients of the azimuth and elevation angles and sending the polynomial coefficients as ephemeris data to the embedded single-chip computer for storage includes: The polynomial order is determined based on the satellite transit time, antenna aperture size, required pointing accuracy, and the computing power of the embedded single-chip microcomputer; According to the polynomial order, the azimuth angle and elevation angle of the ground antenna are fitted into polynomials about time: in, Indicates azimuth; Indicates the pitch angle; are the coefficients of the azimuth polynomial; are the coefficients of the pitch angle polynomial; Indicates the time from the entry date n The time interval in seconds; Set the error sum of squares to: in, is the sum of squared errors of the azimuth angles; is the predicted azimuth value of the fitting curve; is the sum of squared errors of the pitch angle; is the predicted value of the pitch angle of the fitting curve; i The index of the time point. m Indicates the number of time points, i= 1,2,...,m ; The sum of squared errors of the azimuth The sum of squared errors with the pitch angle Perform minimization calculations to obtain the azimuth polynomial coefficients Polynomial coefficients with pitch angle ; The azimuth polynomial coefficients Polynomial coefficients with pitch angle As ephemeris data, it is sent to the embedded microcontroller through the communication interface for storage.

4. The efficient method for sending ephemeris data according to claim 3, characterized in that: The sum of squares of the errors of the azimuth angles The sum of squared errors with the pitch angle Perform minimization calculations to obtain the azimuth polynomial coefficients Polynomial coefficients with pitch angle ,include: Substitute the original data points into the polynomial expressions of azimuth and elevation, and use the sum of squared errors as the error function. Sum of squared errors Take partial derivatives of each coefficient and get a set of linear equations; Solve the linear equations to obtain the azimuth polynomial coefficients Polynomial coefficients with pitch angle .

5. An efficient device for sending ephemeris data, characterized in that: include: The ephemeris data calculation module is used to calculate the azimuth and elevation angles of the satellite corresponding to the ground antenna at different times based on the TLE ephemeris data; The data fitting module is used to fit the azimuth and elevation angles of the ground antenna using the least square method, obtain the polynomial coefficients of the azimuth and elevation angles, and send the polynomial coefficients as ephemeris data to the embedded single-chip computer for storage; Pointing angle calculation module, used for embedded single chip microcomputer to calculate the time interval between the current time and the satellite entry timestamp through GPS time synchronization t , and extract the polynomial coefficients from the ephemeris data, based on the time interval t The polynomial calculation is performed with the polynomial coefficients to obtain the pointing angle of the ground antenna at each moment in real time.

6. An efficient device for sending ephemeris data, characterized in that: The computer device comprises: a processor and a memory storing computer program instructions; When the processor executes the computer program instructions, the efficient method for sending ephemeris data according to any one of claims 1 to 4 is implemented.

7. A computer storage medium, characterized in that: The computer storage medium stores computer program instructions, and when the computer program instructions are executed by a processor, an efficient method for sending ephemeris data as claimed in any one of claims 1 to 4 is implemented.

Images