Real-time positioning method and system for carrier rocket separation body

Abstract

The invention discloses a real-time positioning method and system for a carrier rocket separated body, and relates to the technical field of space.The real-time positioning system for the carrier rocket separated body comprises the steps that after the carrier rocket separated body is separated, an on-rocket positioning sub-device is triggered to start working; when the height of the separated body is larger than the preset height, the on-rocket positioning sub-device obtains and sends the position information of the first separated body; when the height of the separated body is smaller than or equal to the preset height, the positioning sub-device on the rocket obtains and sends the position information of the second separated body; the ground receiving sub-device is used for continuously receiving the position information of the first separated body and the position information of the second separated body and processing the information to obtain a predicted drop point position; and the handheld terminal receives and displays the predicted drop point position. According to the method and the device, the separated body of the carrier rocket can be positioned in time, the drop point forecasting is completed, the searching and handling time of the separated body is greatly shortened, and the probability of secondary disasters and safety accidents caused by residual hazardous compounds is reduced.

Description

Technical Field

[0001] The present application relates to the field of aerospace technology, and in particular to a real-time positioning method and system for a separation body of a launch vehicle. Background Art

[0002] In recent years, my country's space activities have entered a high-density mission period, and the frequency of rocket separation debris falling has increased. Rocket separation debris may contain hazardous chemicals such as high-pressure gas cylinders, safety explosives, and residual toxic propellants. Therefore, rocket separation debris must be disposed of as soon as possible after landing to avoid accidental contact by unrelated personnel and cause safety accidents.

[0003] At present, the landing point of the debris of the separated launch vehicle is mainly obtained through external observation and rough calculation of the ballistic parameters at the time of separation. Since the rocket separation body is an uncontrolled fall, it is affected by many factors such as wind and attitude roll during flight, so it is difficult to accurately calculate the landing point of the debris. Once the observers are unable to observe useful information due to objective reasons, it will cause the professional disposal personnel of the separated launch vehicle debris to be unable to arrive at the scene in time to deal with the residual hazardous chemicals, which will bury a huge hidden danger to the safety of the debris landing point.

[0004] Therefore, there is an urgent need to develop a method and system for real-time positioning of rocket separation bodies to solve the problem that the existing technology cannot quickly and accurately determine the position of the separation body of the launch vehicle. Summary of the invention

[0005] The purpose of this application is to provide a real-time positioning method and system for the separation body of a launch vehicle, which can timely locate the separation body of the launch vehicle and complete the landing point prediction, greatly shortening the search and disposal time for the separation body and reducing the probability of secondary disasters and safety accidents caused by residual hazardous chemicals.

[0006] To achieve the above-mentioned purpose, the present application provides a real-time positioning system for a carrier rocket separation body, comprising: an on-arrow positioning sub-device, a ground receiving sub-device and a handheld terminal arranged on the carrier rocket separation body; wherein, after the separation body of the carrier rocket separates, the on-arrow positioning sub-device is triggered to start working; when the height of the separation body is greater than a preset height, the on-arrow positioning sub-device obtains the first separation body position information and sends it to the ground receiving sub-device; when the height of the separation body is less than or equal to the preset height, the on-arrow positioning sub-device obtains the second separation body position information and sends it to the ground receiving sub-device; the ground receiving sub-device: continuously receives the first separation body position information and the second separation body position information, and processes the first separation body position information and the second separation body position information to obtain a predicted landing point position, and sends the predicted landing point position to the handheld terminal; the handheld terminal: receives and displays the predicted landing point position.

[0007] As above, the on-rocket positioning sub-device at least includes: an antenna feed subsystem, an information processing subsystem and a radio beacon; wherein the antenna feed subsystem: receives the satellite navigation signal sent by the satellite navigation system, and sends the satellite navigation signal to the information processing subsystem; receives the first separation body position information sent by the information processing subsystem, and sends the first separation body position information omnidirectionally through the Beidou short message in real time; the information processing subsystem: is used to receive the separation success signal of the separation body obtained by the separation signal acquisition circuit of the carrier rocket, and uses the separation success signal of the separation body as the switch signal to start sending the Beidou short message; according to the antenna feed subsystem The satellite navigation signal sent by the system is used to locate the separation body, obtain the first separation body position information, and send the first separation body position information to the antenna feed subsystem; generate a transmission signal; the radio beacon machine: turns on within a preset altitude, automatically registers with the ground mobile communication base station, and measures the downlink pilot signal of each ground mobile communication base station, obtains the arrival time and arrival time difference of the downlink pilot signal of each ground mobile communication base station, and calculates the second separation body position information by comparing the ground mobile communication base station position information, and sends the second separation body position information to the radio beacon receiver by radio.

[0008] As above, the ground receiving sub-device includes: a Beidou receiver, a radio beacon receiver and a separation body landing point prediction processing system; wherein, the Beidou receiver: is used to receive the first separation body position information sent by the Beidou short message, and send the first separation body position information to the separation body landing point prediction processing system; the radio beacon receiver: is used to receive the radio signal sent by the radio beacon of the on-arrow positioning sub-device, calculate the second separation body position information according to the radio signal, and send the second separation body position information to the separation body landing point prediction processing system; the separation body landing point prediction processing system: processes the first separation body position information sent by the Beidou receiver and the second separation body position information sent by the radio beacon receiver, derives the predicted landing point position in real time, and sends the predicted landing point position to the handheld terminal.

[0009] As above, the on-rocket positioning sub-device has an independent power supply device, and the on-rocket positioning sub-device has no electrical interface with the launch vehicle.

[0010] As above, the on-arrow positioning sub-device is fixedly mounted on the separation body of the launch vehicle through a mechanical bracket.

[0011] As above, wherein the preset altitude is greater than or equal to 10 kilometers.

[0012] The present application also provides a real-time positioning method for a carrier rocket separation body, which is applied to the above-mentioned real-time positioning system for a carrier rocket separation body, and the real-time positioning method includes the following steps: S1: at the launch site, an on-arrow positioning sub-device is installed on the carrier rocket separation body, and the test of the on-arrow positioning sub-device is completed while the carrier rocket assembly test is being performed. After the test is qualified, S2 is executed; S2: after the carrier rocket is ignited and launched, during the active flight of the carrier rocket's separation body, the on-arrow positioning sub-device is in a dormant state, and the ground receiving sub-device is turned on to complete the mission preparation; S3: after the carrier rocket's separation body completes the active flight and successfully separates according to the preset flight program, the separation signal of the separation body is collected by the carrier rocket's separation signal collection circuit, and after the separation success signal of the separation body is obtained, the separation success signal of the separation body is sent to the on-arrow positioning sub-device, thereby triggering the on-arrow positioning sub-device to start working;

[0013] S4: When the height of the separated body is greater than the preset height, the position information of the first separated body is obtained through the on-arrow positioning sub-device, and the first separated body position information is sent to the ground receiving sub-device through the Beidou short message; S5: When the height of the separated body is less than or equal to the preset height, the position information of the first separated body is obtained through the on-arrow positioning sub-device, and the first separated body position information is sent to the ground receiving sub-device through the Beidou short message; the position information of the second separated body is obtained through the on-arrow positioning sub-device, and the second separated body position information is sent to the ground receiving sub-device; S6: The ground receiving sub-device processes the first separated body position information and the second separated body position information to obtain the predicted landing point position, and sends the predicted landing point position to the handheld terminal.

[0014] As above, step S4 also includes: when the height of the separated body is greater than the preset height, the ground receiving sub-device needs to process the first separated body position information each time it receives the first separated body position information sent via the Beidou short message, and obtain the predicted time when the separated body reaches the preset height.

[0015] As above, the ground receiving sub-device processes the first separated body position information and the second separated body position information, and the sub-steps of obtaining the predicted landing position are as follows: S61: The ground receiving sub-device processes the first separated body position information sent via the Beidou short message, and fits the first descent trajectory curve; S62: The ground receiving sub-device processes the second separated body position information sent via radio, and fits the second descent trajectory curve; S63: The first descent trajectory curve and the second descent trajectory curve are analyzed to obtain the current curve overlap; S64: The current curve overlap is judged by a preset curve overlap threshold, and a judgment result is generated. If the current curve overlap is greater than or equal to the preset curve overlap threshold, the generated judgment result is accurate, and the predicted landing position is obtained according to the second descent trajectory curve; if the current curve overlap is less than the preset curve overlap threshold, the generated judgment result is inaccurate, and an alarm message is sent.

[0016] As mentioned above, when the separated body of the carrier rocket lands, the antenna feed subsystem of the onboard positioning sub-device modifies the broadcast period of the Beidou short message to the second broadcast period, and continuously sends the landing point data information of the separated body of the carrier rocket to the ground receiving sub-device and / or the handheld terminal according to the second broadcast period.

[0017] The beneficial effects achieved by this application are as follows:

[0018] (1) The real-time positioning method and system for the separation body of a launch vehicle of the present application are used to locate the position of the separation body and / or wreckage of the launch vehicle in real time and complete the landing point prediction.

[0019] (2) The real-time positioning method and system for a launch vehicle separation body of the present application can reduce the time for separation body debris disposal personnel to search for the separation body debris during the separation body's re-entry flight and after its uncontrolled fall to the ground, thereby minimizing the probability of secondary hazards and safety accidents caused by residual hazardous chemicals in the separation body and / or debris. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present application. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0021] Figure 1 A schematic structural diagram of an embodiment of a real-time positioning system for a launch vehicle separation body;

[0022] Figure 2 The present invention is a flow chart of an embodiment of a method for real-time positioning of a launch vehicle separation body. DETAILED DESCRIPTION

[0023] The following is a clear and complete description of the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0024] like Figure 1 As shown, the present application provides a real-time positioning system for a separation body of a launch vehicle, comprising: an on-rocket positioning sub-device 1 arranged on the separation body of the launch vehicle, a ground receiving sub-device 2 and at least one handheld terminal 3.

[0025] Among them, after the separation of the separation body of the carrier rocket, the on-arrow positioning sub-device 1 is triggered to start working; when the height of the separation body is greater than the preset height, the on-arrow positioning sub-device 1 obtains the first separation body position information and sends it to the ground receiving sub-device 2; when the height of the separation body is less than or equal to the preset height, the on-arrow positioning sub-device 1 obtains the second separation body position information and sends it to the ground receiving sub-device 2.

[0026] Specifically, before the separation body of the carrier rocket is separated, the on-rocket positioning sub-device 1 is in a standby state. The carrier rocket collects the separation signal of the separation body through the separation signal acquisition circuit, and after obtaining the separation success signal of the separation body, triggers the on-rocket positioning sub-device 1 to start working.

[0027] Ground receiving sub-device 2: continuously receives the first separated body position information and the second separated body position information, processes the first separated body position information and the second separated body position information, obtains the predicted landing point position, and sends the predicted landing point position to the handheld terminal.

[0028] Handheld terminal 3: Receives and displays the predicted landing position.

[0029] Specifically, the separation debris disposal personnel can rush to the landing point in time according to the predicted landing point sent in real time, and organize the disposal of the separation debris. The on-rocket positioning sub-device 1 can be set not only on a sub-stage of the launch vehicle, but also on other separation bodies such as fairings and boosters.

[0030] Furthermore, the on-arrow positioning sub-device 1 at least includes: an antenna feed subsystem, an information processing subsystem and a radio beacon.

[0031] Among them, the antenna and feeder subsystem: receives the satellite navigation signal sent by the satellite navigation system, and sends the satellite navigation signal to the information processing subsystem; receives the separated body position information sent by the information processing subsystem, and sends the first separated body position information omnidirectionally through Beidou short messages in real time.

[0032] Information processing subsystem: used to receive the separation success signal of the separation body obtained by the separation signal acquisition circuit of the carrier rocket, and use the separation success signal of the separation body as the switch signal to start sending the Beidou short message; locate the separation body according to the satellite navigation signal sent by the antenna and feed subsystem, obtain the position information of the first separation body, and send the position information of the first separation body to the antenna and feed subsystem; generate a transmission signal.

[0033] Radio beacon: It turns on within a preset height, automatically registers with the ground mobile communication base station, and measures the downlink pilot signal of each ground mobile communication base station to obtain the arrival time and arrival time difference of the downlink pilot signal of each ground mobile communication base station, calculates the position information of the second separated body by comparing the position information of the ground mobile communication base station, and sends the second separated body position information to the radio beacon receiver by radio.

[0034] Furthermore, the satellite navigation signals sent by the satellite navigation system are GPSL1 signals and BD2B1 signals transmitted by space-based satellites, but are not limited to GPSL1 signals and BD2B1 signals transmitted by space-based satellites. The present application preferably uses GPSL1 signals and BD2B1 signals transmitted by space-based satellites.

[0035] Specifically, the GPSL1 signal is a signal of the L1 frequency band transmitted by the Global Positioning System (GPS) satellite, which is mainly used for positioning and other functions. The BD2B1 signal is a signal of the B1 frequency band transmitted by the BeiDou-2 satellite navigation system, which is mainly used for positioning, navigation and other functions.

[0036] Furthermore, the ground receiving sub-device 2 includes: a Beidou receiver, a radio beacon receiver and a separation body landing point prediction processing system.

[0037] Among them, the Beidou receiver is used to receive the first separated body position information sent by the Beidou short message, and send the first separated body position information to the separated body landing point prediction processing system.

[0038] Radio beacon receiver: used to receive the radio signal sent by the radio beacon of the locating device on the arrow, calculate the position information of the second separated body according to the radio signal, and send the position information of the second separated body to the separated body landing point prediction processing system.

[0039] Separation body landing point prediction processing system: processes the first separation body position information sent by the Beidou receiver and the second separation body position information sent by the radio beacon receiver, derives the predicted landing point position in real time, and sends the predicted landing point position to the handheld terminal.

[0040] Furthermore, the on-rocket positioning sub-device 1 has an independent power supply device, and the on-rocket positioning sub-device 1 has no electrical interface with the launch vehicle.

[0041] Specifically, the arrow positioning sub-device 1 is an independent device with an autonomous power supply function.

[0042] Further, as an embodiment, the on-rocket positioning sub-device 1 is fixedly mounted on the separation body of the launch vehicle through a mechanical bracket.

[0043] Furthermore, the specific value of the preset height is set according to the actual situation (ie, the preset height is adjustable), and the present application preferably has a separation body that is greater than or equal to 10 kilometers from the ground.

[0044] Specifically, the preset minimum height is: the separation body is 10 kilometers from the ground.

[0045] like Figure 2 As shown, the present application provides a real-time positioning method for a launch vehicle separation body, comprising the following steps:

[0046] S1: At the launch site, install the on-rocket positioning sub-device on the separated body of the carrier rocket, and complete the test of the on-rocket positioning sub-device while conducting the final assembly test of the carrier rocket. After the test is passed, execute S2.

[0047] Specifically, the test includes at least: electrical performance test of the device, desktop joint test, installation on the arrow, and post-assembly test. The specific method of the test can be implemented using existing technology, so it is not repeated here.

[0048] S2: After the launch vehicle is ignited and launched, during the active flight of the launch vehicle's separated body, the onboard positioning sub-device is in a dormant state, and the ground receiving sub-device is turned on to complete the mission preparation.

[0049] Specifically, the antenna feed subsystem and the radio beacon of the onboard positioning sub-device are not turned on, but the ground receiving sub-device is turned on to complete the mission preparation.

[0050] S3: After the separation body of the launch vehicle completes the active flight and successfully separates according to the preset flight program, the separation signal of the separation body is collected through the separation signal acquisition circuit of the launch vehicle. After the separation success signal of the separation body is obtained, the separation success signal of the separation body is sent to the on-rocket positioning sub-device, thereby triggering the on-rocket positioning sub-device to start working.

[0051] Specifically, the separated body of the launch vehicle executes the preset flight program, completes the mission and shuts down normally, and the onboard positioning sub-device is powered on and started after a preset time period to ensure that it does not affect the normal flight of the rocket. The specific value of the preset time period is set according to actual conditions. The antenna feed subsystem in the onboard positioning sub-device is powered on normally, and the position information of the first separated body is broadcast in the form of a Beidou short message. The position information of the first separated body is the real-time position data information of the separated body after separation.

[0052] S4: When the height of the separated body is greater than the preset height, the position information of the first separated body is obtained through the on-arrow positioning sub-device, and the position information of the first separated body is sent to the ground receiving sub-device through the Beidou short message.

[0053] Specifically, when the height of the separated body is greater than the preset height, the antenna feed subsystem and information processing subsystem of the on-arrow positioning subsystem obtain the position information of the first separated body, and send the position information of the first separated body to the Beidou receiver of the ground receiving subsystem through the Beidou short message.

[0054] Furthermore, when the height of the separated body is greater than the preset height, the antenna feed subsystem of the onboard positioning sub-device sets the broadcast period of the Beidou short message to the first broadcast period, and broadcasts the first separated body position information to the ground receiving sub-device according to the first broadcast period.

[0055] Furthermore, step S4 also includes: when the height of the separated body is greater than the preset height, the ground receiving sub-device needs to process the first separated body position information each time it receives the first separated body position information sent via the Beidou short message to obtain the predicted time for the separated body to reach the preset height.

[0056] Furthermore, the ground receiving sub-device processes the position information of the first separated body to obtain the predicted time when the separated body reaches the preset height as follows:

[0057] S41: Determine the current height and the current vertical speed according to the first separation position information.

[0058] Specifically, the current height is the actual height of the separation body from the ground obtained according to the first separation position information.

[0059] The current vertical speed is the current vertical speed obtained according to the last first separation position information, and the actual time from the last current height to the current current height.

[0060] S42: Divide the current altitude into multiple sub-current altitude ranges, and obtain the vertical speed influence parameter of each sub-current altitude range, wherein the kth sub-current altitude range has the vertical speed influence parameter of each sub-current altitude range. is the maximum value in the current height range of the kth child; is the minimum value in the kth sub-current height range; the minimum value of the kth sub-current height range is equal to the maximum value of the k+1th sub-current height range.

[0061] Specifically, in different height ranges, the influence of other factors such as air resistance on the speed of the separation body in the vertical direction is different. Therefore, the current height is divided according to the degree of influence to obtain multiple sub-current height ranges. In the same sub-current height range, the influence of other factors such as air resistance on the speed of the separation body in the vertical direction is the same or approximately the same.

[0062] Set the vertical speed impact parameter for each sub-current altitude range according to the actual situation and / or research data. The vertical speed impact parameter indicates the proportion of vertical speed reduction caused by other factors such as air resistance in the sub-current altitude range.

[0063] S43: Calculate the predicted time for the separated body to reach the preset height according to the current height, the current vertical speed, the sub-current height range, and the vertical speed influence parameter of each sub-current height range.

[0064] Furthermore, the expression for the predicted time for the separation body to reach the preset height is:

[0065]

[0066] Among them, Tyc i is the predicted time for the separated body to reach the preset height obtained according to the first separation position information received for the i-th time; i∈[1,I], I is the total number of times the ground receiving sub-device receives the first separation body position information before the separated body reaches the preset height; v k is the vertical velocity of the separated body when it reaches the minimum value in the current height range of the kth child; μ k+1 is the vertical speed influence parameter corresponding to the k+1th sub-current height range; is the minimum value of the current height range of the kth child; is the minimum value of the k+1th sub-current height range; g is the gravitational acceleration; k∈[1,K], K+1 is the total number of sub-current height ranges.

[0067] Specifically, the on-arrow positioning sub-device prepares to start the radio beacon to obtain the second separated body position information based on the predicted time and / or the real-time acquired first separated body position information, further ensuring the real-time and accuracy of the acquisition of the second separated body position information.

[0068] S5: When the height of the separated body is less than or equal to the preset height, the position information of the first separated body is obtained through the on-arrow positioning sub-device, and the position information of the first separated body is sent to the ground receiving sub-device through the Beidou short message; the position information of the second separated body is obtained through the on-arrow positioning sub-device, and the position information of the second separated body is sent to the ground receiving sub-device.

[0069] Specifically, when the height of the separated body is less than or equal to the preset height, the position information of the first separated body is obtained through the antenna feed subsystem and the information processing subsystem of the on-arrow positioning subsystem, and the position information of the first separated body is sent to the Beidou receiver of the ground receiving subsystem through the Beidou short message; at the same time, the position information of the second separated body is obtained through the radio beacon of the on-arrow positioning subsystem, and the position information of the second separated body is sent to the radio beacon receiver of the ground receiving subsystem.

[0070] S6: The ground receiving sub-device processes the first separated body position information and the second separated body position information to obtain a predicted landing point position, and sends the predicted landing point position to the handheld terminal.

[0071] Furthermore, the ground receiving sub-device processes the first separated body position information and the second separated body position information to obtain the predicted landing point position in the following sub-steps:

[0072] S61: The ground receiving sub-device processes the first separated body position information sent via the Beidou short message, and obtains a first descent trajectory curve by fitting.

[0073] Specifically, the existing technology is used to process the position information of the first separated body, and the first descending trajectory curve is obtained by fitting.

[0074] S62: The ground receiving sub-device processes the second separated body position information sent by radio, and obtains a second descent trajectory curve by fitting.

[0075] Specifically, the existing technology is used to process the position information of the second separated body and fit the second descent trajectory curve.

[0076] S63: Analyze the first descending trajectory curve and the second descending trajectory curve to obtain the current curve overlap.

[0077] Specifically, the first descent trajectory curve and the second descent trajectory curve are analyzed by a pre-trained analysis model to obtain the current curve overlap. The greater the current curve overlap, the more consistent the first descent trajectory curve and the second descent trajectory curve are.

[0078] S64: The current curve coincidence is judged by the preset curve coincidence threshold and a judgment result is generated. If the current curve coincidence is greater than or equal to the preset curve coincidence threshold, the generated judgment result is accurate, and the predicted landing point position is obtained according to the second descent trajectory curve; if the current curve coincidence is less than the preset curve coincidence threshold, the generated judgment result is inaccurate and an alarm message is sent.

[0079] Specifically, the specific value of the curve overlap threshold is set according to the actual situation. The predicted landing point position can be obtained according to the second descent trajectory curve by using the existing technology or a pre-trained prediction model.

[0080] Furthermore, when the separated body of the launch vehicle lands, the antenna feed subsystem of the onboard positioning sub-device modifies the broadcast period of the Beidou short message to the second broadcast period, and continuously sends the landing point data information of the separated body of the launch vehicle to the ground receiving sub-device and / or the handheld terminal according to the second broadcast period.

[0081] Furthermore, the second broadcast cycle is shorter than the first broadcast cycle.

[0082] Specifically, within a unit of time, the number of broadcasts in the second broadcast cycle is greater than the number of broadcasts in the second broadcast cycle, which makes it easier for the separated body debris disposal personnel to obtain the landing location of the separated body in real time, can reduce the time for the separated body debris disposal personnel to search for the separated body debris, and can minimize the occurrence of secondary hazards and safety accidents caused by the separated body and / or residual hazardous chemicals in the debris.

[0083] Furthermore, the specific value of the second broadcast period is set according to actual conditions, and the preferred value in this application is: once every 20s to 30s.

[0084] The beneficial effects achieved by this application are as follows:

[0085] (1) The real-time positioning method and system for the separation body of a launch vehicle of the present application are used to locate the position of the separation body and / or wreckage of the launch vehicle in real time and complete the landing point prediction.

[0086] (2) The real-time positioning method and system for a launch vehicle separation body of the present application can reduce the time for separation body debris disposal personnel to search for the separation body debris during the separation body's re-entry flight and after its uncontrolled fall to the ground, thereby minimizing the probability of secondary hazards and safety accidents caused by residual hazardous chemicals in the separation body and / or debris.

[0087] Although the preferred embodiments of the present application have been described, those skilled in the art may make additional changes and modifications to these embodiments once they are aware of the basic creative concepts. Therefore, the scope of protection of the present application is intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present application. Obviously, those skilled in the art may make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the protection scope of the present application and its equivalent technology, the present application is also intended to include these modifications and variations.

Claims

1. A real-time positioning system for a launch vehicle separation body, characterized in that: include: An on-rocket positioning sub-device, a ground receiving sub-device and at least one handheld terminal arranged on a separated body of a launch vehicle; Among them, after the separation of the separation body of the carrier rocket, the on-arrow positioning sub-device is triggered to start working; when the height of the separation body is greater than the preset height, the on-arrow positioning sub-device obtains the position information of the first separation body and sends it to the ground receiving sub-device; when the height of the separation body is less than or equal to the preset height, the on-arrow positioning sub-device obtains the position information of the second separation body and sends it to the ground receiving sub-device; The ground receiving sub-device continuously receives the first separated body position information and the second separated body position information, processes the first separated body position information and the second separated body position information, obtains the predicted landing point position, and sends the predicted landing point position to the handheld terminal; Handheld terminal: Receive and display the predicted landing position.

2. The real-time positioning system for a launch vehicle separation body according to claim 1, characterized in that: The on-arrow positioning sub-device at least includes: an antenna feed subsystem, an information processing subsystem and a radio beacon; The antenna feed subsystem: receives the satellite navigation signal sent by the satellite navigation system, and sends the satellite navigation signal to the information processing subsystem; receives the first separation body position information sent by the information processing subsystem, and sends the first separation body position information omnidirectionally in real time through Beidou short messages; Information processing subsystem: used to receive the separation success signal of the separation body obtained by the separation signal acquisition circuit of the carrier rocket, and use the separation success signal of the separation body as the switch signal for starting the transmission of the Beidou short message; locate the separation body according to the satellite navigation signal sent by the antenna feed subsystem, obtain the position information of the first separation body, and send the position information of the first separation body to the antenna feed subsystem; generate the transmission signal; Radio beacon: It turns on within a preset height, automatically registers with the ground mobile communication base station, and measures the downlink pilot signal of each ground mobile communication base station to obtain the arrival time and arrival time difference of the downlink pilot signal of each ground mobile communication base station, calculates the position information of the second separated body by comparing the position information of the ground mobile communication base station, and sends the second separated body position information to the radio beacon receiver by radio.

3. The real-time positioning system for a launch vehicle separation body according to claim 2, characterized in that: The ground receiving sub-device includes: Beidou receiver, radio beacon receiver and separation point prediction and processing system; Wherein, the Beidou receiver is used to receive the first separated body position information sent by the Beidou short message, and send the first separated body position information to the separated body landing point prediction processing system; Radio beacon receiver: used to receive the radio signal sent by the radio beacon of the locating sub-device on the arrow, calculate the position information of the second separated body according to the radio signal, and send the position information of the second separated body to the separation body landing point prediction processing system; Separation body landing point prediction processing system: processes the first separation body position information sent by the Beidou receiver and the second separation body position information sent by the radio beacon receiver, derives the predicted landing point position in real time, and sends the predicted landing point position to the handheld terminal.

4. The real-time positioning system for a launch vehicle separation body according to claim 1, characterized in that: The on-rocket positioning sub-device has an independent power supply device, and there is no electrical interface between the on-rocket positioning sub-device and the launch vehicle.

5. The real-time positioning system for a launch vehicle separation body according to claim 1, characterized in that: The on-rocket positioning sub-device is fixedly mounted on the separation body of the launch vehicle through a mechanical bracket.

6. The real-time positioning system for a launch vehicle separation body according to claim 1, characterized in that: The preset height is: the separation body is greater than or equal to 10 kilometers from the ground.

7. A real-time positioning method for a launch vehicle separation body, characterized in that: The real-time positioning system for a launch vehicle separation body according to any one of claims 1 to 6, wherein the real-time positioning method comprises the following steps: S1: At the launch site, the on-rocket positioning sub-device is installed on the separated body of the launch vehicle, and the on-rocket positioning sub-device is tested while the launch vehicle is being assembled and tested. After the test is passed, S2 is executed; S2: After the launch vehicle is ignited and launched, during the active flight of the launch vehicle's separated body, the onboard positioning sub-device is in a dormant state, and the ground receiving sub-device is turned on to complete the mission preparation; S3: After the separation body of the launch vehicle completes the active flight and successfully separates according to the preset flight program, the separation signal of the separation body is collected by the separation signal collection circuit of the launch vehicle. After the separation success signal of the separation body is obtained, the separation success signal of the separation body is sent to the on-rocket positioning sub-device, thereby triggering the on-rocket positioning sub-device to start working; S4: when the height of the separated body is greater than a preset height, the position information of the first separated body is obtained by the on-arrow positioning sub-device, and the position information of the first separated body is sent to the ground receiving sub-device through a Beidou short message; S5: when the height of the separated body is less than or equal to the preset height, the first separated body position information is obtained through the on-arrow positioning sub-device, and the first separated body position information is sent to the ground receiving sub-device through the Beidou short message; the second separated body position information is obtained through the on-arrow positioning sub-device, and the second separated body position information is sent to the ground receiving sub-device; S6: The ground receiving sub-device processes the first separated body position information and the second separated body position information to obtain a predicted landing point position, and sends the predicted landing point position to the handheld terminal.

8. The real-time positioning method for a launch vehicle separation body according to claim 7, characterized in that: Step S4 also includes: when the height of the separated body is greater than the preset height, the ground receiving sub-device needs to process the first separated body position information sent via the Beidou short message each time it receives the first separated body position information to obtain the predicted time when the separated body reaches the preset height.

9. The real-time positioning method for a launch vehicle separation body according to claim 7, characterized in that: The ground receiving sub-device processes the first separated body position information and the second separated body position information to obtain the predicted landing point position in the following sub-steps: S61: The ground receiving sub-device processes the first separated body position information sent via the Beidou short message, and obtains a first descent trajectory curve by fitting; S62: The ground receiving sub-device processes the second separated body position information sent by radio, and obtains a second descent trajectory curve by fitting; S63: Analyze the first descending trajectory curve and the second descending trajectory curve to obtain the current curve overlap; S64: The current curve coincidence is judged by the preset curve coincidence threshold and a judgment result is generated. If the current curve coincidence is greater than or equal to the preset curve coincidence threshold, the generated judgment result is accurate, and the predicted landing point position is obtained according to the second descent trajectory curve; if the current curve coincidence is less than the preset curve coincidence threshold, the generated judgment result is inaccurate and an alarm message is sent.

10. The real-time positioning method for a launch vehicle separation body according to claim 7, characterized in that: When the separated body of the carrier rocket lands, the antenna feed subsystem of the onboard positioning sub-device modifies the broadcast period of the Beidou short message to the second broadcast period, and continuously sends the landing point data information of the separated body of the carrier rocket to the ground receiving sub-device and / or handheld terminal according to the second broadcast period.

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